gb tta series - iai automation€¦ · difference between gate type tta-a series and cantilever...
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GB
Tabletop Robot TTA SeriesZR-Axis TypeSeries AddedZR-Axis TypeSeries Added
1
Significantly Higher Payload and Maximum Speed
Stores Much More Programs and Positions
Three Times as Many I/O Points as Conventional Models
1.
2.
3.
Enlarged variation with addition of ZR-axis type
TT (Conventional model) TTA
Maximum payload (kg)
Work part side (X-axis) 10 20
Tool side (Z-axis) 2 6
Maximum speed (mm/sec)
X-axis 300 800
Y-axis 300 800
Z-axis 300 400
TT (Conventional model) TTA
Number of programs 64 255
Number of program steps 6000 9999
Number of multi-tasking programs 16 16
Number of display languages 2 (Japanese/English) 2 (Japanese/English)
Number of positions 3000 30000
Inputs/outputs
16 points/16 points Up to 48 points/48 points
The larger memory lets you store much more programs and positions.
The additional data recovery function enables original data recovery due to power failure during FLASH
writing.
When the standard I/O slot isn't enough, two additional I/O expansion slots can be installed.
Supporting field networks
Up to 3 times
Up to 2.6 times
4 times more programs
10 times more positions
3 times more
Improved Tabletop Robotfor Cell Production Applications.Featuring Significantly Higher Payload,Maximum Speed and Rigidity!
2
More Variations4.Gate Type and Cantilever Type are available in the lineup of TTA Series which are well-appraised with higher
payload, maximum speed and rigidity.
Dedicated ZR- axis Now in Lineup5.We have prepared the dedicated rotary axis, which was not available for the
tabletop robot previously.
Range of application has been expanded by equipping a rotary axis (R-axis)
at the tip of vertical axis (Z-axis).
It is now possible to mount a camera on the slider of the Z-axis.
500×500 500×450
200×200 200×150300×300 300×250
400×400 400×350
[TTA-A3]Z-Axis Equipped Gate Type
[TTA-C3]Z-Axis Equipped Cantilever Type
8 Variety Types for Various Operation Range
There are four types of operation ranges to select from for each of TTA-A (gate type) and TTA-C (cantilever type).
For 3-axis specification, we have prepared two types, 100mm and 150mm, for Z-axis.
You can select a model ideal for the size of your work part.
Difference between Gate Type TTA-A Series and Cantilever Type TTA-C Series
With work piece mounted on the X-axis slider.
Work piece itself moves.
With work piece mounted on the base.
Work piece itself does not move.
[TTA-A2] [TTA-C2]
CE Compliant Model Types
TTA-G, the global specification version, is compliant with CE.
Series TTA
Type(*1)
Gate type
A2G (2-axis global type withsafety category specification)
A3G (3-axis global type withsafety category specification)
A4G (4-axis global type with ZR rotaryaxis and safety category specification)
C2G (2-axis global type withsafety category specification)
C3G (3-axis global type withsafety category specification)
C4G (4-axis global type with ZR rotaryaxis and safety category specification)
StrokeX/Y-axis
(mm)StrokeZ-axis(mm)
Max.speed(mm/s)
Loadcapa-city(kg)
X-axis
Y-axis
Z-axis
R-axis
X-axis
Y-axis
Z-axis
R-axis
200x200(with singlepillar) (*2)
300x300(with double
pillar)
400x400(with double
pillar)
500x500(Double pillar
travel)
200x200(with singlepillar) (*2)
300x300(with double
pillar)
400x400(with double
pillar)
500x500(with double
pillar)
200x200(with singlepillar) (*2)
300x300(with double
pillar)
400x400(with double
pillar)
500x500(with double
pillar)
— 100/150 100/150
Type(*1)
Cantilever type
StrokeX/Y-axis
(mm)
200x150(with singlepillar) (*2)
300x250(with double
pillar)
400x350(with double
pillar)
500x450(with double
pillar)
200x150(with singlepillar) (*2)
300x250(with double
pillar)
400x350(with double
pillar)
500x450(with double
pillar)
200x150(with singlepillar) (*2)
300x250(with double
pillar)
400x350(with double
pillar)
500x450(with double
pillar)
StrokeZ-axis(mm)
— 100/150 100/150
Max.speed(mm/s)
Loadcapa-city(kg)
X-axis
Y-axis
Z-axis
R-axis
X-axis
Y-axis
Z-axis
R-axis
Referencepage
Referencepage
P. 8 P. 9 P. 10 P. 11 P. 16 P. 17 P. 18 P. 19 P. 24
P. 12 P. 13 P. 14 P. 15 P. 20 P. 21 P. 22 P. 23 P. 26
800 800 800
800 800 800
— 400 400
— — 1000 deg./s
20 20 20
10 — —
— 6 6
— — 0.01 kg·m² (*3)
600 700 800 600 700 800 600 700 800
540 640 800 540 640 800 540 640 800
— 400 400
— — 1000 deg./s
— — —
10 — —
— 6 6
— — 0.01 kg·m² (*3)
3
TTA Series Lineup
(*1) All product types include power plug and power supply cable. (*2) Refer to Pg. 6 for additional pillar as option. (*3) Max. load moment of inertia.
4
Standardheight
100mm
Y-axis heightis selectable
Y-axis horizontalposition is selectable(Only available forTTA-A type)
50mm
Standard position
(Standard) H1 (Standard + 50mm) H2 (Standard + 100mm)
(Standard) F1 (90mm forward of standard position)
F2 (180mm forward of standard position)
180mm90mm
ZR-axis horizontalposition is selectable
Standard position
(Standard) FZ (64.5mm forward of standard position)
55.5mm 120mm
Standard Standard + 50mm up Standard + 100mm up
Y-axis height is selectable − H1 H2
Standard Standard + 90mm forward Standard + 180mm forward
Y-axis horizontal position is selectable − F1 F2* To change both the Y-axis height and Y-axis horizontal position, specify the type codes in alphabetical order together with other option codes.
(Example: AP-F1-FT-H2-OS)* Y-axis position change option in front-back direction cannot be selected for TTA-C type.
Standard Standard + 64.5mm forward
ZR-axis horizontal position is selectable − FZ
Additional Options Let You Change the Y-axis Height and Horizontal Position.
Optional Detachable Operation Console
The operation console can be separated from the product for handy operation. (Cable length: 900mm)
5
System Configuration
Back Panel Wiring Layout
Front Panel Wiring Layout
Teaching Pendant (Option)
PC Software(Option)
I/O Flat Cable (Accessory)V
Dummy Plug
ariety of Field Networks (Options)
Model: TB-01-S (*)
Model: DP-2 (**)
Model: IA-101-X-MW IA-101-TTA-USB (**)
IA-101-X-USBMWIA-101-XA-MW (***)
Model: CB-PAC-PIO020
Emergency Stop Switch
Electromagnetic Relay
Enable Switch
Protective Grounding
* Emergency stop switch, enable switch, electromagnetic relay, and other external devices may be connected and wired if necessary. If no devices are connected or wired, the robot will still operate properly. Connectors with jumper wires are supplied.
Expansion I/O Slots
Standard I/OService PowerSupply connector
Select from those below for the power supply cable• Only with plug on main unit side• Power supply cable for 230 VAC (2m)
PC Connection Cable(Supplied with the PC Software)Model: CB-ST-E1MW050 (5m) CB-SEL-USB030 (3m)
CB-ST-A1MW050 (5m)
PLC
5m
5m/3m
2m
100 to 230 VAC
(*) TB-01-S coming with CE conformity. For a safety category compliant system with deadman switch type TB-01-D(R) see TB-01 brochure.
(**) Enclosed in global specification and PC software (IA-101-TTA-USB).(***) Safety category compliant system with safety circuit emergency stop connector type IA-101-XA-MW including PC cable CB-ST-A1MW050.
6
Type
2
Standard I/O Slot
12
Expansion I/O Slot 1
13
Expansion I/O Slot 2
14
I/O Cable Length
15
X-axis Contents
4 5
Y-axis Contents
6 7
Z-axis Contents
8 9
R-axis Contents
10 11
Series
TTA1
Encoder Type
I3
Power Supply Cable Specification
16
Option
17
Explanation of Model Name
* PNP specification is coming soon.** The EtherNet/IP connection board can be connected only in expansion slot 1. If another board is also used, it is installed in expansion slot 2.
I Incremental
X-axis stroke
20 200mm30 300mm40 400mm50 500mm
Y-axis strokeTTA-A Series TTA-C Series20 200mm 15 150mm30 300mm 25 250mm40 400mm 35 350mm50 500mm 45 450mm
X-axis option
HS Home confirmation sensorNM Reversed-home specification
Y-axis option
HS Home confirmation sensorNM Reversed-home specification
NP NPN specificationPN PNP specification
PU Mating plug (No cable)
2Power supply cable for 230 VAC (2m)(Ring tongue terminal on end)
0 None2 2m3 3m5 5m
E Not used
NP Expansion PIO board (NPN specification)
PN Expansion PIO board (PNP specification) (*)
DV DeviceNet connection boardCC CC-Link connection boardPR PROFIBUS-DP connection boardEP EtherNet/IP connection board (**)
Z-axis stroke
10 100mm15 150mm
R-axis stroke
18L ±180 deg.36L ±360 deg.
* Equipped with home limit switch
Z-axis option
B Brake (Standard equipment) −
CO With cover (dedicated for 4-axis specification)
→P. 25 P. 27
HS Home confirmation sensor −NM Reversed-home specification −
R-axis option
ML Motor reversed to leftMR Motor reversed to right
* Either of them is described
Y-axis height and horizontal position change and
additional option
H1 Y-axis mounting position height 50mm up
→P. 4H2 Y-axis mounting position height 100mm upF1 Y-axis mounting position 90mm forwardF2 Y-axis mounting position 180mm forwardAP Additional pillar for 20-15 and 20-20 types −
Installation bracket optionsFT4 Foot bracket equipped specification (4 pcs)
→P. 34FT6 Foot bracket equipped specification (6 pcs)
Side slot optionsSLT0 Side slot 180mm installation specification
→P. 35SLT Individual stroke side slot installation specification
Side plate optionsPTH Installation side plate (with hole)
→P. 36PTN Installation side plate (without hole)
Operation part option OS Detachable operation console →P. 4ZR-axis position change option FZ ZR-axis attached position 64.5mm forward →P. 4
Global specification
A2G 2-axis Gate TypeA3G 3-axis Gate Type
A4G 4-axis Gate Type(R180 deg. Specification, R360 deg. Specification)
C2G 2-axis Cantilever TypeC3G 3-axis Cantilever Type
C4G 4-axis Cantilever Type(R180 deg. Specification, R360 deg. Specification)
(Note) The global specification types apply for CE marking and Safety Category B to 3.
Options with Surcharge
10 12 13 14 15 16 1
Name Option code
Home confirmation sensor HS
Y-axis mounting position height 50mm up H1
Y-axis mounting position height 100mm up H2
Y-axis mounting position 90mm forward F1
Y-axis mounting position 180mm forward F2
ZR-axis attached position 64.5mm forward FZ
Additional pillar for 20-15 and 20-20 types AP
Foot bracket equipped specification (4 pcs) FT4
Foot bracket equipped specification (6 pcs) FT6
Side slot 180mm installation specification SLT0
Individual stroke side slot installation specification SLT
Installation side plate (with hole) PTH
Installation side plate (without hole) PTN
Detachable operation console OS
With Z-axis cover CO
AP Additional pillar for 20-15 and 20-20 types
This option can make 20-15 and 20-20 type, which are single pillar types in standard, a double pillar gate type. FT4 Foot bracket equipped specification (4 pcs)
for X-axis stroke 20/30
FT6 Foot bracket equipped specification (6 pcs) for X-axis stroke 40/50
SLT0 Side slot 180mm installation specification
It is to be selected when changing to slot specification in selection of FT4 or FT6. 20/30 type of X-axis stroke is equipped with 2 places of 180mm side slot and 40/50 type with 4 places.
SLT Individual stroke side slot installation specification
It is to be selected when changing to the slot specification considering the size of the main unit. *It is not available to select for FT4 and FT6.
PTH Installation side plate (with hole)
Y-axis installation position: Suitable size will be selected for each of standard, F1 and F2 * Only available for TTA-A type
PTN Installation side plate (without hole)
Y-axis installation position: Suitable size will be selected for each of standard, F1 and F2 * Only available for TTA-A type
<Notes>
The global specification types are enclosed with dummy plug [DP-2]. F1 and F2 options cannot be selected for TTA-C type.
[Supplemental Explanation for Options]
7
Notes
Notes on Catalog Specifications
Speed "Speed" refers to the set speed when the actuator is in motion.The slider accelerates from a stationary state. Once the set speed is reached, the slider will move at that speed until immediately before the target position (specified position), where the slider will decelerate to a stop.
"Acceleration" refers to the rate of change of speed from a stationary state until the set speed is reached. "Deceleration" refers to the rate of change of speed from the set speed until the slider stops.Acceleration and deceleration are set in "G" (0.3G = 2940mm/sec², Rotary axis is 0.3G = 2940deg./sec²).
"Positioning repeatability" refers to the positioning accuracy when the actuator is repeatedly moved to aprestored position. It is different from "absolute positioning accuracy".
The home is located on the motor side on the actuator for standard specification, or on the front side of the actuator in the reversed-home specification.During home return the slider moves until it contacts the mechanical end, and then it reversed its direction.Be careful to prevent contact with surrounding parts.
The load moment is calculated by assuming a travel life of 5000km. Note that if the specified moment value is exceeded, the service life of the guide will be reduced. The direction of each moment and applicable reference point are shown below:
Acceleration/Deceleration
Duty cycle
Positioning repeatability
Home
Dynamic allowable moment(Ma, Mb, Mc)
The tabletop robot can be operated at a duty cycle of 100%.
Duty cycle (%) = Operating time x 100 Operating time + Stopped time
TTA-A2G-20-20 8
TTA-A2G-20-20 Tabletop Robot Gate Type 2-axis SpecificationXY-axis: 200mm
Xst:20 055
63110
178.5
57
317
495. 5
20.5
HomeME SE ME
T-Groove A (Same Shape on the Opposite Side)
60
362
34 0
3216
512
5
105
30(Note 4)
12527.5 25
401
Yst:2
005
555
70
205
483.7
112
76
(401
)
ME
Home
ME
SE
70
80 70(Re
amer
Pitch
Toler
ance ±
0.02
)
6-M5, Dept h 7
4-M4, Dept h 73060
2 - ø5 H7, Dept h 535
35
55
10050
110
90(Re
amer
Pitch
Toler
ance ±
0.02
)
2 - ø5 H7, Dept h 5
6-M5, Dept h 7
6-M4, Dept h 7
110
45
Dial for Y-Slider Position Tuning
U
S
AP (Additional Pillar Option)
Dimensions
210
T-Groove B x 2
Applicable controller
Maximum number of
controlled axesEncoder type Method of
operationPower-supply
voltage Page
Built-in 2 axes Incremental Program 230 VAC → P. 28Caution
(Note 1) The maximum speed cannot be achieved based on the maximum payload setting. The payload decreases when the speed is increased. Also note that the maximum acceleration/deceleration varies depending on the payload. (Refer to P. 37.)
(Note 2) It is limited to when the actuator temperature is constant. It does not guarantee the absolute accuracy.
(Note 3) The dynamic allowable moment is a value of each axis assuming a traveling life of 5000km. (Refer to P. 7 for the dynamic allowable moment.)
(Note 4) Secure 2mm or more to the main body frames when mounting a work piece on X slider.
Model/Specifications
Model number Payload (kg) (Note 1)
TTA-A2G-I-20 1 -20 2 - 3 - 4 - 5 - 6 - 7 - 8X-axis
Incremental Pulse motor24 or equiv. 200 1 ~800 20
Y-axis 24 or equiv. 200 1 ~800 10
Expansion I/O SlotCommon Specifications
Drive system Ballscrew (ø12mm, rolled C10) Speed increased at 1.5:1 using a timing belt
Positioning repeatability ±0.02mm (Note 2)
Lost motion 0.1mm or less
Guide Ball-circulation type linear guide
Dynamic allowable moment (Note 3)
X-axis: Ma: 15.9Nm Mb: 15.9Nm Mc: 32.0NmY-axis: Ma: 12.6Nm Mb: 12.6Nm Mc: 37.4Nm
Ambient temperature/humidity 0 to 40ºC, 85% RH max. (non-condensing)
Loadable weight on table* 20kg
Actuator weight 24kg
Name Model
Not used E
Expansion PIO board (NPN specification) NP
Expansion PIO board (PNP specification)* PN
DeviceNet connection board DV
CC-Link connection board CC
PROFIBUS-DP connection board PR
EtherNet/IP connection board EP
* Table part is defined as the top surface on the main body except for the slider part. It is not the payload of X-axis.
Dimensions
You can download CAD drawings from our website.
2DCAD2D
CAD
* Refer to P. 7 for dimensions of T-groove.* During home return, the slider moves to the ME, so be careful to prevent contact with surrounding parts.
SE: Stroke end ME: Mechanical end
* Refer to P. 6 for the details of model specification items.
HS: Home confirmation sensorNM: Reversed-home specification
Refer to the expansion I/O slot table below.
* If the expansion I/O slot is not used, enter “E.”
20: 200mm 20: 200mm 0: None2: 2m3: 3m5: 5m
PU: Mating plug (No cable)2: Power supply cable for 230 VAC (2m)
NP: NPN specificationPN: PNP specification
Refer to P. 6 A2G:
2-axis global specification(Gate type)
I: Incremental specification
TTASeries
IEncoder
type
20X-axis stroke
20Y-axis stroke
Type X-axis option
Y-axis option
OptionStandard I/O slot
Expansion I/O slot 1
Expansion I/O slot 2
I/O cable length
Power supply cable specification
ModelSpecificationItems
Applicable Controller Specifications
* Coming soon
Detailed Diagram U (Detail of Y-axis Slider)
Detailed Diagram S (Detail of X-axis Slider)
Axis configuration Motor type Lead (mm) Stroke (mm) Speed (mm/sec)Encoder type
* In the above model number, 1 and 2 indicate the XY-axis options, 3 indicates the standard I/O slot, 4 and 5 indicate the expansion I/O slots, 6 indicates the I/O cable length, 7 indicates the power supply cable specification, and 8 indicates the selected option(s).
9 TTA-A2G-30-30
* Refer to P. 6 for the details of model specification items.
TTA-A2G-30-30 Tabletop Robot Gate Type 2-axis SpecificationXY-axis: 300mm
HS: Home confirmation sensorNM: Reversed-home specification
Refer to the expansion I/O slot table below.
* If the expansion I/O slot is not used, enter “E.”
30: 300mm 30: 300mm 0: None2: 2m3: 3m5: 5m
PU: Mating plug (No cable)2: Power supply cable for 230 VAC (2m)
NP: NPN specificationPN: PNP specification
Refer to P. 6 A2G:
2-axis global specification(Gate type)
I: Incremental specification
TTASeries
IEncoder
type
30X-axis stroke
30Y-axis stroke
Type X-axis option
Y-axis option
OptionStandard I/O slot
Expansion I/O slot 1
Expansion I/O slot 2
I/O cable length
Power supply cable specification
ModelSpecificationItems
Xst:30 055
63110
178.5417
595. 5
20.5
572527.5
HomeME SE ME
T-Groove A (Sam e Shape on the Opposite Side)
T-Groove B x 2(Same Shape on the Opposite Side on the Fram e)
501
3216
5
155
125
80(Note 4)
60
25
44 0
27.5
120
125
362
T-Groove B x 2
Yst:3
005
555
70
305
583 .7
112
(501
)
76
MEHome
ME
SE
70
8070(Re
amer
Pitch
Toler
ance ±
0.02
)
6-M5, Dept h 7
4-M4, Dept h 73060
35
35
55
10 050
110
90(Re
amer
Pitch
Toler
ance ±
0.02
)
2-ø5 H7, Depth 5
2-ø5 H7, Dept h 5
6-M5, Dept h 7
6-M4, Dept h 7
110
45
Dial for Y-Slider Position Tuning
U
S
Applicable controller
Maximum number of
controlled axesEncoder type Method of
operationPower-supply
voltage Page
Built-in 2 axes Incremental Program 230 VAC → P. 28
Dimensions
You can download CAD drawings from our website.
Caution
(Note 1) The maximum speed cannot be achieved based on the maximum payload setting. The payload decreases when the speed is increased. Also note that the maximum acceleration/deceleration varies depending on the payload. (Refer to P. 37.)
(Note 2) It is limited to when the actuator temperature is constant. It does not guarantee the absolute accuracy.
(Note 3) The dynamic allowable moment is a value of each axis assuming a traveling life of 5000km. (Refer to P. 7 for the dynamic allowable moment.)
(Note 4) Secure 2mm or more to the main body frames when mounting a work piece on X slider.
* Refer to P. 7 for dimensions of T-groove.* During home return, the slider moves to the ME, so be careful to prevent contact with surrounding parts.
SE: Stroke end ME: Mechanical end
Expansion I/O SlotCommon Specifications
Drive system Ballscrew (ø12mm, rolled C10) Speed increased at 1.5:1 using a timing belt
Positioning repeatability ±0.02mm (Note 2)
Lost motion 0.1mm or less
Guide Ball-circulation type linear guide
Dynamic allowable moment (Note 3)
X-axis: Ma: 15.9Nm Mb: 15.9Nm Mc: 32.0NmY-axis: Ma: 12.6Nm Mb: 12.6Nm Mc: 37.4Nm
Ambient temperature/humidity 0 to 40ºC, 85% RH max. (non-condensing)
Loadable weight on table* 30kg
Actuator weight 31kg
Name Model
Not used E
Expansion PIO board (NPN specification) NP
Expansion PIO board (PNP specification)* PN
DeviceNet connection board DV
CC-Link connection board CC
PROFIBUS-DP connection board PR
EtherNet/IP connection board EP
* Table part is defined as the top surface on the main body except for the slider part. It is not the payload of X-axis.
Model/Specifications
Model number Axis configuration Speed (mm/sec)Stroke (mm)Lead (mm)Motor typeEncoder type Payload (kg) (Note 1)
TTA-A2G-I-30 1 -30 2 - 3 - 4 - 5 - 6 - 7 - 8X-axis
Incremental Pulse motor24 or equiv. 300 1 ~800 20
Y-axis 24 or equiv. 300 1 ~800 10
Applicable Controller Specifications
2DCAD2D
CAD
Detailed Diagram U (Detail of Y-axis Slider)
Detailed Diagram S (Detail of X-axis Slider)
* Coming soon
* In the above model number, 1 and 2 indicate the XY-axis options, 3 indicates the standard I/O slot, 4 and 5 indicate the expansion I/O slots, 6 indicates the I/O cable length, 7 indicates the power supply cable specification, and 8 indicates the selected option(s).
TTA-A2G-40-40 10
TTA-A2G-40-40 Tabletop Robot Gate Type 2-axis SpecificationXY-axis: 400mm
2-ø5, H7, Dept h 5
2-ø5, H7, Dept h 5
Xst: 400
5563110
178.5517
695. 5
20.5
5727.5 25
HomeME SE ME
T-Groove A (Same Shape on the Opposite Side)
T-Groove B x 2(Same Shape on the Opposite Side on the Fram e)
412
3221
512
5
205
175
130(Note 4)
60
25
54 0
27.5
601
170
T-Groove B x 2
Yst:
400
55
5570
405
683.7
112
76
(601
)
MEHome
MESE
70
8070(Re
amer
Pitch
Toler
ance ±
0.02
)
6-M5, Dept h 7
4-M4, Dept h 73060
3535
100
50
110
90(Re
amer
Pitch
Toler
ance ±
0.02
)
6-M5, Dept h 7
6-M4, Dept h 7110
45
55
Dial for Y-Slider Position Tuning
U
S
Dimensions
You can download CAD drawings from our website.
* Refer to P. 7 for dimensions of T-groove.* During home return, the slider moves to the ME, so be careful to prevent contact with surrounding parts.
SE: Stroke end ME: Mechanical end
Model/Specifications
Expansion I/O SlotCommon Specifications
Drive system Ballscrew (ø12mm, rolled C10) Speed increased at 1.5:1 using a timing belt
Positioning repeatability ±0.02mm (Note 2)
Lost motion 0.1mm or less
Guide Ball-circulation type linear guide
Dynamic allowable moment (Note 3)
X-axis: Ma: 15.9Nm Mb: 15.9Nm Mc: 32.0NmY-axis: Ma: 12.6Nm Mb: 12.6Nm Mc: 37.4Nm
Ambient temperature/humidity 0 to 40ºC, 85% RH max. (non-condensing)
Loadable weight on table* 40kg
Actuator weight 37kg
Name Model
Not used E
Expansion PIO board (NPN specification) NP
Expansion PIO board (PNP specification)* PN
DeviceNet connection board DV
CC-Link connection board CC
PROFIBUS-DP connection board PR
EtherNet/IP connection board EP
* Table part is defined as the top surface on the main body except for the slider part. It is not the payload of X-axis.
* Refer to P. 6 for the details of model specification items.
HS: Home confirmation sensorNM: Reversed-home specification
Refer to the expansion I/O slot table below.
* If the expansion I/O slot is not used, enter “E.”
40: 400mm 40: 400mm 0: None2: 2m3: 3m5: 5m
PU: Mating plug (No cable)2: Power supply cable for 230 VAC (2m)
NP: NPN specificationPN: PNP specification
Refer to P. 6 A2G:
2-axis global specification
(Gate type)
I: Incremental specification
TTASeries
IEncoder
type
40X-axis stroke
40Y-axis stroke
Type X-axis option
Y-axis option
OptionStandard I/O slot
Expansion I/O slot 1
Expansion I/O slot 2
I/O cable length
Power supply cable specification
ModelSpecificationItems
Model number Payload (kg) (Note 1)
TTA-A2G-I-40 1 -40 2 - 3 - 4 - 5 - 6 - 7 - 8X-axis
Incremental Pulse motor24 or equiv. 400 1 ~800 20
Y-axis 24 or equiv. 400 1 ~800 10
Applicable controller
Maximum number of
controlled axesEncoder type Method of
operationPower-supply
voltage Page
Built-in 2 axes Incremental Program 230 VAC → P. 28Caution
(Note 1) The maximum speed cannot be achieved based on the maximum payload setting. The payload decreases when the speed is increased. Also note that the maximum acceleration/deceleration varies depending on the payload. (Refer to P. 37.)
(Note 2) It is limited to when the actuator temperature is constant. It does not guarantee the absolute accuracy.
(Note 3) The dynamic allowable moment is a value of each axis assuming a traveling life of 5000km. (Refer to P. 7 for the dynamic allowable moment.)
(Note 4) Secure 2mm or more to the main body frames when mounting a work piece on X slider.
Applicable Controller Specifications
2DCAD2D
CAD
Axis configuration Motor type Lead (mm) Stroke (mm) Speed (mm/sec)Encoder type
* Coming soon
Detailed Diagram U (Detail of Y-axis Slider)
Detailed Diagram S (Detail of X-axis Slider)
* In the above model number, 1 and 2 indicate the XY-axis options, 3 indicates the standard I/O slot, 4 and 5 indicate the expansion I/O slots, 6 indicates the I/O cable length, 7 indicates the power supply cable specification, and 8 indicates the selected option(s).
11 TTA-A2G-50-50
TTA-A2G-50-50 Tabletop Robot Gate Type 2-axis SpecificationXY-axis: 500mm
2-ø5, H7, Dept h 5
2-ø5, H7, Dept h 5
Xst: 50055
63110
178.5617
20.5
57
795. 5
27.5 25
HomeME SE ME
T-Groove A (Same Shape on the Opposite Side)701
412
3221
512
5
175
180(Note 4)
25
64 0
60 255
27.5
220T-Groove B x 2
Yst:
500
55
5570
783.7
112 505
76
(701
)
MEHome
ME
SE
70
8070(Re
amer
Pitch
Toler
ance ±
0.02
)
6-M5, Dept h 7
4-M4, Dept h 73060
3535
10 0
50
110
90(Re
amer
Pitch
Toler
ance ±
0.02
)
6-M5, Dept h 7
6-M4, Dept h 7110
45
55
Dial for Y-Slider Position Tuning
T-Groove B x 2(Same Shape on the Opposite Side on the Fram e)
U
S
Applicable controller
Maximum number of
controlled axesEncoder type Method of
operationPower-supply
voltage Page
Built-in 2 axes Incremental Program 230 VAC → P. 28Caution
(Note 1) The maximum speed cannot be achieved based on the maximum payload setting. The payload decreases when the speed is increased. Also note that the maximum acceleration/deceleration varies depending on the payload. (Refer to P. 37.)
(Note 2) It is limited to when the actuator temperature is constant. It does not guarantee the absolute accuracy.
(Note 3) The dynamic allowable moment is a value of each axis assuming a traveling life of 5000km. (Refer to P. 7 for the dynamic allowable moment.)
(Note 4) Secure 2mm or more to the main body frames when mounting a work piece on X slider.
Dimensions
You can download CAD drawings from our website.
* Refer to P. 7 for dimensions of T-groove.* During home return, the slider moves to the ME, so be careful to prevent contact with surrounding parts.
SE: Stroke end ME: Mechanical end
Model/Specifications
Expansion I/O SlotCommon Specifications
Drive system Ballscrew (ø12mm, rolled C10) Speed increased at 1.5:1 using a timing belt
Positioning repeatability ±0.02mm (Note 2)
Lost motion 0.1mm or less
Guide Ball-circulation type linear guide
Dynamic allowable moment (Note 3)
X-axis: Ma: 15.9Nm Mb: 15.9Nm Mc: 32.0NmY-axis: Ma: 12.6Nm Mb: 12.6Nm Mc: 37.4Nm
Ambient temperature/humidity 0 to 40ºC, 85% RH max. (non-condensing)
Loadable weight on table* 50kg
Actuator weight 44kg
Name Model
Not used E
Expansion PIO board (NPN specification) NP
Expansion PIO board (PNP specification)* PN
DeviceNet connection board DV
CC-Link connection board CC
PROFIBUS-DP connection board PR
EtherNet/IP connection board EP
* Table part is defined as the top surface on the main body except for the slider part. It is not the payload of X-axis.
* Refer to P. 6 for the details of model specification items.
HS: Home confirmation sensorNM: Reversed-home specification
Refer to the expansion I/O slot table below.
* If the expansion I/O slot is not used, enter “E.”
50: 500mm 50: 500mm 0: None2: 2m3: 3m5: 5m
PU: Mating plug (No cable)2: Power supply cable for 230 VAC (2m)
NP: NPN specificationPN: PNP specification
Refer to P. 6 A2G:
2-axis global specification
(Gate type)
I: Incremental specification
TTASeries
IEncoder
type
50X-axis stroke
50Y-axis stroke
Type X-axis option
Y-axis option
OptionStandard I/O slot
Expansion I/O slot 1
Expansion I/O slot 2
I/O cable length
Power supply cable specification
ModelSpecificationItems
Model number Speed (mm/sec)Stroke (mm)Lead (mm)Motor typeEncoder typeAxis configuration Payload (kg) (Note 1)
TTA-A2G-I-50 1 -50 2 - 3 - 4 - 5 - 6 - 7 - 8X-axis
Incremental Pulse motor24 or equiv. 500 1 ~800 20
Y-axis 24 or equiv. 500 1 ~800 10
Applicable Controller Specifications
2DCAD2D
CAD
Detailed Diagram U (Detail of Y-axis Slider)
Detailed Diagram S (Detail of X-axis Slider)
* Coming soon
* In the above model number, 1 and 2 indicate the XY-axis options, 3 indicates the standard I/O slot, 4 and 5 indicate the expansion I/O slots, 6 indicates the I/O cable length, 7 indicates the power supply cable specification, and 8 indicates the selected option(s).
TTA-C2G-20-15 12
TTA-C2G-20-15 Tabletop Robot Cantilever Type 2-axis SpecificationX-axis: 200mm, Y-axis: 150mm
5Xst: 200105
5
80(1
95)
(4.5)180
485
Dial for Y-Slider Position Tuning
ME SE Home ME
Fram e Surface
T-Groove A (Same Shape on the Opposite Side)
195
416.
512
623
5
27.5 25
34 0436
35130
Yst:
150
Xst: 2005 5
55
196
105 126
90
53 4.7
Home
ME
ME SE Home
MESE
MEOperat ing Ranges
6070
30
80 70(Re
amer
Pitch
Toler
ance ±
0.02
)35
35
6-M5, Dept h 7
4-M4, Dept h 7
2 - ø5 H7, Dept h 5
Detailed Diagram U (Detail of Y-axis Slider)
40.5
9085
.5
25 5x50p= 250
50 100 100
12-M4, Dept h 8
3 - ø5 H7, Dept h 5
Fram e Surface
View for Top Base Hole Allocation
U
(436
)
AP (Additional Pillar Option)
Dimensions
203
Dial for X-Slider Position Tuning
T-Groove B x 2
Applicable controller
Maximum number of
controlled axesEncoder type Method of
operationPower-supply
voltage Page
Built-in 2 axes Incremental Program 230 VAC → P. 28
Caution
(Note 1) The maximum speed cannot be achieved based on the maximum payload setting. The payload decreases when the speed is increased. Also note that the maximum acceleration/deceleration varies depending on the payload. (Refer to P. 37.)
(Note 2) It is limited to when the actuator temperature is constant. It does not guarantee the absolute accuracy.
(Note 3) The dynamic allowable moment is a value of each axis assuming a traveling life of 5000km. (Refer to P. 7 for the dynamic allowable moment.)
Dimensions
You can download CAD drawings from our website.
* Refer to P. 7 for dimensions of T-groove.* During home return, the slider moves to the ME, so be careful to prevent contact with surrounding parts.
SE: Stroke end ME: Mechanical end
Model/Specifications
Expansion I/O SlotCommon Specifications
Drive system Ballscrew (ø12mm, rolled C10) Speed increased at 1.5:1 using a timing belt
Positioning repeatability ±0.02mm (Note 2)
Lost motion 0.1mm or less
Guide Ball-circulation type linear guide
Dynamic allowable moment (Note 3)
X-axis: Ma: 12.6Nm Mb: 12.6Nm Mc: 37.4NmY-axis: Ma: 12.6Nm Mb: 12.6Nm Mc: 37.4Nm
Ambient temperature/humidity 0 to 40ºC, 85% RH max. (non-condensing)
Loadable weight on table
Actuator weight 25kg
40kg
Name Model
Not used E
Expansion PIO board (NPN specification) NP
Expansion PIO board (PNP specification)* PN
DeviceNet connection board DV
CC-Link connection board CC
PROFIBUS-DP connection board PR
EtherNet/IP connection board EP
* Refer to P. 6 for the details of model specification items.
HS: Home confirmation sensorNM: Reversed-home specification
Refer to the expansion I/O slot table below.
* If the expansion I/O slot is not used, enter “E.”
20: 200mm 15: 150mm 0: None2: 2m3: 3m5: 5m
PU: Mating plug (No cable)2: Power supply cable for 230 VAC (2m)
NP: NPN specificationPN: PNP specification
Refer to P. 6 C2G:
2-axis global specification(Cantilever type)
I: Incremental specification
TTASeries
IEncoder
type
20X-axis stroke
15Y-axis stroke
Type X-axis option
Y-axis option
OptionStandard I/O slot
Expansion I/O slot 1
Expansion I/O slot 2
I/O cable length
Power supply cable specification
ModelSpecificationItems
Model number Axis configuration Motor type Lead (mm) Stroke (mm) Speed (mm/sec)Encoder type Payload (kg) (Note 1)
TTA-C2G-I-20 1 -15 2 - 3 - 4 - 5 - 6 - 7 - 8X-axis
Incremental Pulse motor24 or equiv. 200 1 ~600 −
Y-axis 24 or equiv. 150 1 ~540 10
Applicable Controller Specifications
2DCAD2D
CAD
* Coming soon
* In the above model number, 1 and 2 indicate the XY-axis options, 3 indicates the standard I/O slot, 4 and 5 indicate the expansion I/O slots, 6 indicates the I/O cable length, 7 indicates the power supply cable specification, and 8 indicates the selected option(s).
13 TTA-C2G-30-25
TTA-C2G-30-25 Tabletop Robot Cantilever Type 2-axis SpecificationX-axis: 300mm, Y-axis: 250mm
5Xst: 30 0105
(3)
5
80(1
95)
180585
Dial for Y-Slider Position Tuning
ME SE Home ME
Fram e Surface
85
195
536
27.5 25
126
30344 0
235
416.
5
130
T-Groove B x 2
Yst:
250
Xst: 30 05 5
55
9019
6
105 126
(536
)
63 4.7
Home
ME
ME SE Home
ME
SE
Operat ing Range s
ME
6070
30
80 70(Re
amer
Pitch
Toler
ance ±
0.02
)35
35
6-M5, Dept h 7
4-M4, Dept h 7
2 - ø5 H7, Dept h 5
90.5
9013
5.5
12 .5 5x75 p=37 5
50 150 150
12-M4, Depth 8
3 - ø5 H7, Depth 5
Fram e Surface
U
T-Groove A (Same Shape on the Opposite Side)
Dial for X-Slider Position Tuning
Applicable controller
Maximum number of
controlled axesEncoder type Method of
operationPower-supply
voltage Page
Built-in 2 axes Incremental Program 230 VAC → P. 28
Caution
(Note 1) The maximum speed cannot be achieved based on the maximum payload setting. The payload decreases when the speed is increased. Also note that the maximum acceleration/deceleration varies depending on the payload. (Refer to P. 37.)
(Note 2) It is limited to when the actuator temperature is constant. It does not guarantee the absolute accuracy.
(Note 3) The dynamic allowable moment is a value of each axis assuming a traveling life of 5000km. (Refer to P. 7 for the dynamic allowable moment.)
Dimensions
You can download CAD drawings from our website.
Model/Specifications
Expansion I/O SlotCommon Specifications
Drive system Ballscrew (ø12mm, rolled C10) Speed increased at 1.5:1 using a timing belt
Positioning repeatability ±0.02mm (Note 2)
Lost motion 0.1mm or less
Guide Ball-circulation type linear guide
Dynamic allowable moment (Note 3)
X-axis: Ma: 12.6Nm Mb: 12.6Nm Mc: 37.4NmY-axis: Ma: 12.6Nm Mb: 12.6Nm Mc: 37.4Nm
Ambient temperature/humidity 0 to 40ºC, 85% RH max. (non-condensing)
Loadable weight on table 60kg
Actuator weight 33kg
Name Model
Not used E
Expansion PIO board (NPN specification) NP
Expansion PIO board (PNP specification)* PN
DeviceNet connection board DV
CC-Link connection board CC
PROFIBUS-DP connection board PR
EtherNet/IP connection board EP
* Refer to P. 7 for dimensions of T-groove.* During home return, the slider moves to the ME, so be careful to prevent contact with surrounding parts.
SE: Stroke end ME: Mechanical end
* Refer to P. 6 for the details of model specification items.
HS: Home confirmation sensorNM: Reversed-home specification
Refer to the expansion I/O slot table below.
* If the expansion I/O slot is not used, enter “E.”
30: 300mm 25: 250mm 0: None2: 2m3: 3m5: 5m
PU: Mating plug (No cable)2: Power supply cable for 230 VAC (2m)
NP: NPN specificationPN: PNP specification
Refer to P. 6 C2G: 2-axis global specification
(Cantilever type)
I: Incremental specification
TTASeries
IEncoder
type
30X-axis stroke
25Y-axis stroke
Type X-axis option
Y-axis option
OptionStandard I/O slot
Expansion I/O slot 1
Expansion I/O slot 2
I/O cable length
Power supply cable specification
ModelSpecificationItems
Model number Payload (kg) (Note 1)
TTA-C2G-I-30 1 -25 2 - 3 - 4 - 5 - 6 - 7 - 8X-axis
Incremental Pulse motor24 or equiv. 300 1 ~700 −
Y-axis 24 or equiv. 250 1 ~640 10
Applicable Controller Specifications
2DCAD2D
CAD
Detailed Diagram U (Detail of Y-axis Slider)
View for Top Base Hole Allocation
Speed (mm/sec)Stroke (mm)Lead (mm)Motor typeEncoder typeAxis configuration
* Coming soon
* In the above model number, 1 and 2 indicate the XY-axis options, 3 indicates the standard I/O slot, 4 and 5 indicate the expansion I/O slots, 6 indicates the I/O cable length, 7 indicates the power supply cable specification, and 8 indicates the selected option(s).
TTA-C2G-40-35 14
Xst: 40055
125
80(2
45)
(17)180
705
Dial for Y-Slider Position Tuning
ME SE Home ME
Fram e Surface
2527.5
135
63654 0
403
126
285
466.
5
130
245
T-Groove B x 2
Yst:
350
Xst: 4005 5
55
9019
6
125 10 6
(636
)
75 4.7
Home
ME
ME SE ME
ME
SE
HomeOperat ing Ranges
6070
30
80 70(Re
amer
Pitch
Toler
ance ±
0.02
)35
35
6-M5, Dept h 7
4-M4, Dept h 7
2 - ø5 H7, Dept h 5
95.5
9090
140.
590
18-M5, Depth 10
20 5x10 0p=500
70 20 0 20 06 - ø5 H7, Depth 5
Fram e Surface
U
T-Groove A (Same Shape on the Opposite Side)
Dial for X-Slider Position Tuning
TTA-C2G-40-35 Tabletop Robot Cantilever Type 2-axis SpecificationX-axis: 400mm, Y-axis: 350mm
Applicable controller
Maximum number of
controlled axesEncoder type Method of
operationPower-supply
voltage Page
Built-in 2 axes Incremental Program 230 VAC → P. 28
Caution
(Note 1) The maximum speed cannot be achieved based on the maximum payload setting. The payload decreases when the speed is increased. Also note that the maximum acceleration/deceleration varies depending on the payload. (Refer to P. 37.)
(Note 2) It is limited to when the actuator temperature is constant. It does not guarantee the absolute accuracy.
(Note 3) The dynamic allowable moment is a value of each axis assuming a traveling life of 5000km. (Refer to P. 7 for the dynamic allowable moment.)
Dimensions
You can download CAD drawings from our website.
Model/Specifications
Expansion I/O SlotCommon Specifications
Drive system Ballscrew (ø12mm, rolled C10) Speed increased at 1.5:1 using a timing belt
Positioning repeatability ±0.02mm (Note 2)
Lost motion 0.1mm or less
Guide Ball-circulation type linear guide
Dynamic allowable moment (Note 3)
X-axis: Ma: 12.6Nm Mb: 12.6Nm Mc: 37.4NmY-axis: Ma: 12.6Nm Mb: 12.6Nm Mc: 37.4Nm
Ambient temperature/humidity 0 to 40ºC, 85% RH max. (non-condensing)
Loadable weight on table 80kg
Actuator weight 40kg
Name Model
Not used E
Expansion PIO board (NPN specification) NP
Expansion PIO board (PNP specification)* PN
DeviceNet connection board DV
CC-Link connection board CC
PROFIBUS-DP connection board PR
EtherNet/IP connection board EP
* Refer to P. 7 for dimensions of T-groove.* During home return, the slider moves to the ME, so be careful to prevent contact with surrounding parts.
SE: Stroke end ME: Mechanical end
* Refer to P. 6 for the details of model specification items.
HS: Home confirmation sensorNM: Reversed-home specification
Refer to the expansion I/O slot table below.
* If the expansion I/O slot is not used, enter “E.”
40: 400mm 35: 350mm 0: None2: 2m3: 3m5: 5m
PU: Mating plug (No cable)2: Power supply cable for 230 VAC (2m)
NP: NPN specificationPN: PNP specification
Refer to P. 6 C2G:
2-axis global specification(Cantilever type)
I: Incremental specification
TTASeries
IEncoder
type
40X-axis stroke
35Y-axis stroke
Type X-axis option
Y-axis option
OptionStandard I/O slot
Expansion I/O slot 1
Expansion I/O slot 2
I/O cable length
Power supply cable specification
ModelSpecificationItems
Model number Payload (kg) (Note 1)
TTA-C2G-I-40 1 -35 2 - 3 - 4 - 5 - 6 - 7 - 8X-axis
Incremental Pulse motor24 or equiv. 400 1 ~800 −
Y-axis 24 or equiv. 350 1 ~800 10
Applicable Controller Specifications
2DCAD2D
CAD
Axis configuration Motor type Lead (mm) Stroke (mm) Speed (mm/sec)Encoder type
* Coming soon
Detailed Diagram U (Detail of Y-axis Slider)
View for Top Base Hole Allocation
* In the above model number, 1 and 2 indicate the XY-axis options, 3 indicates the standard I/O slot, 4 and 5 indicate the expansion I/O slots, 6 indicates the I/O cable length, 7 indicates the power supply cable specification, and 8 indicates the selected option(s).
15 TTA-C2G-50-45
TTA-C2G-50-45 Tabletop Robot Cantilever Type 2-axis SpecificationX-axis: 500mm, Y-axis: 450mm
5Xst: 50 0
5125
(17)
80(2
45)
180805
Dial for Y-Slider Position Tuning
ME SE Home ME
Fram e Surface
2527.5
185
73664 0
503
285
466.
5
130
245
126
T-Groove B x 2
Yst:
450
Xst: 50 05 5
55
9019
6
125 10 6
(736
)
85 4.7
ME SE ME
MESE
HomeOperat ing Range s
HomeME
6070
30
80 70(Re
amer
Pitch
Toler
ance ±
0.02
)35
35
6-M5, Dept h 7
4-M4, Dept h 7
2 - ø5 H7, Dept h 5
7.5 5x125p=6 2514
5.5
9090
190.
590
18-M5, Depth 10
70 250 2506 - ø5 H7, Depth 5
Fram e Surface
U
T-Groove A (Same Shape on the Opposite Side)
Dial for X-Slider Position Tuning
Applicable controller
Maximum number of
controlled axesEncoder type Method of
operationPower-supply
voltage Page
Built-in 2 axes Incremental Program 230 VAC → P. 28
Caution
(Note 1) The maximum speed cannot be achieved based on the maximum payload setting. The payload decreases when the speed is increased. Also note that the maximum acceleration/deceleration varies depending on the payload. (Refer to P. 37.)
(Note 2) It is limited to when the actuator temperature is constant. It does not guarantee the absolute accuracy.
(Note 3) The dynamic allowable moment is a value of each axis assuming a traveling life of 5000km. (Refer to P. 7 for the dynamic allowable moment.)
Dimensions
You can download CAD drawings from our website.
Model/Specifications
* In the above model number, 1 and 2 indicate the XY-axis options, 3 indicates the standard I/O slot, 4 and 5 indicate the expansion I/O slots, 6 indicates the I/O cable length, 7 indicates the power supply cable specification, and 8 indicates the selected option(s).
Expansion I/O SlotCommon Specifications
Drive system Ballscrew (ø12mm, rolled C10) Speed increased at 1.5:1 using a timing belt
Positioning repeatability ±0.02mm (Note 2)
Lost motion 0.1mm or less
Guide Ball-circulation type linear guide
Dynamic allowable moment (Note 3)
X-axis: Ma: 12.6Nm Mb: 12.6Nm Mc: 37.4NmY-axis: Ma: 12.6Nm Mb: 12.6Nm Mc: 37.4Nm
Ambient temperature/humidity 0 to 40ºC, 85% RH max. (non-condensing)
Loadable weight on table 100kg
Actuator weight 47kg
Name Model
Not used E
Expansion PIO board (NPN specification) NP
Expansion PIO board (PNP specification)* PN
DeviceNet connection board DV
CC-Link connection board CC
PROFIBUS-DP connection board PR
EtherNet/IP connection board EP
* Refer to P. 7 for dimensions of T-groove.* During home return, the slider moves to the ME, so be careful to prevent contact with surrounding parts.
SE: Stroke end ME: Mechanical end
* Refer to P. 6 for the details of model specification items.
HS: Home confirmation sensorNM: Reversed-home specification
Refer to the expansion I/O slot table below.
* If the expansion I/O slot is not used, enter “E.”
50: 500mm 45: 450mm 0: None2: 2m3: 3m5: 5m
PU: Mating plug (No cable)2: Power supply cable for 230 VAC (2m)
NP: NPN specificationPN: PNP specification
Refer to P. 6 C2G:
2-axis global specification
(Cantilever type)
I: Incremental specification
TTASeries
IEncoder
type
50X-axis stroke
45Y-axis stroke
Type X-axis option
Y-axis option
OptionStandard I/O slot
Expansion I/O slot 1
Expansion I/O slot 2
I/O cable length
Power supply cable specification
ModelSpecificationItems
Model number
TTA-C2G-I-50 1 -45 2 - 3 - 4 - 5 - 6 - 7 - 8X-axis
Incremental Pulse motor24 or equiv. 500 1 ~800 −
Y-axis 24 or equiv. 450 1 ~800 10
Applicable Controller Specifications
2DCAD2D
CAD
* Coming soon
Detailed Diagram U (Detail of Y-axis Slider)
View for Top Base Hole Allocation
Payload (kg) (Note 1)Speed (mm/sec)Stroke (mm)Lead (mm)Motor typeEncoder typeAxis configuration
TTA-A3G-20-20 16
2 - ø5 H7, Depth 5
2 - ø5 H7, Dept h 5
55Xst: 20 0 63
55
Zst:
100
Zst:1
5047
75.5
137.2
11057
Zst+
185.
5 6078
.5
495. 5262
HomeME SE ME
ME
Home
T-Groove A (Sam e Shape on the Opposite Side)
ME
SE
(12)
Zst=
100:
535.
5Zs
t=15
0:58
5.5
34 0
60
Zst=
100:
270
Zst=
150:
320
32
105
30(Note 4) 93
125
2527.5
401
T-Groove B x 2
55
61Ys
t:20
0
150
54 6.8
(401
)
112
8258
SE
ME
ME
Home90
(Ream
er Pi
tch To
leranc
e ±0.
02)
45
10 0
506-M5, Dept h 7
6-M4, Dept h 7
55
110
110
255060
35(Reame r Pitch Toleranc e ±0 .02)
43
30
4-M5, Dept h 7
4-M4, Dept h 7
7030210
AP (Additiona l Pillar Option)
Dimensions
U
Dial for Z-Slider Position Tuning
S
Dial for Y-Slider Position Tuning
Dimensions
You can download CAD drawings from our website.
Applicable controller
Maximum number of
controlled axesEncoder type Method of
operationPower-supply
voltage Page
Built-in 3 axes Incremental Program 230 VAC → P. 28Caution
(Note 1) The maximum speed cannot be achieved based on the maximum payload setting. The payload decreases when the speed is increased. Also note that the maximum acceleration/deceleration varies depending on the payload. (Refer to P. 37.)
(Note 2) It is limited to when the actuator temperature is constant. It does not guarantee the absolute accuracy.
(Note 3) The dynamic allowable moment is a value of each axis assuming a traveling life of 5000km. (Refer to P. 7 for the dynamic allowable moment.)
(Note 4) Secure 2mm or more to the main body frames when mounting a work piece on X slider.
Expansion I/O Slot
Common Specifications
Drive system X/Y/Z-axis ballscrew (X/Y-axis: ø12mm, Z-axis: ø10mm, rolled C10) X-axis and Y-axis speeds increased at 1.5:1 using a timing belt
Positioning repeatability ±0.02mm (Note 2)
Lost motion 0.1mm or less
Guide Ball-circulation type linear guide
Dynamic allowable moment (Note 3)
X-axis: Ma: 15.9Nm Mb: 15.9Nm Mc: 32.0NmZ-axis: Ma: 9.7Nm Mb: 9.7Nm Mc: 20.5Nm
Ambient temperature/humidity 0 to 40ºC, 85% RH max. (non-condensing)
Loadable weight on table* 20kg
Actuator weight 27kg
Name Model
Not used E
Expansion PIO board (NPN specification) NP
Expansion PIO board (PNP specification)* PN
DeviceNet connection board DV
CC-Link connection board CC
PROFIBUS-DP connection board PR
EtherNet/IP connection board EP
* Table part is defined as the top surface on the main body except for the slider part. It is not the payload of X-axis.
* Refer to P. 7 for dimensions of T-groove.* During home return, the slider moves to the ME, so be
careful to prevent contact with surrounding parts.
SE: Stroke end ME: Mechanical end
Model/Specifications
Model number Payload (kg) (Note 1)
TTA-A3G-I-20 1 -20 2 - 3 B 4 - 5 - 6 - 7 - 8 - 9 - 10X-axis
Incremental Pulse motor24 or equiv. 200 1~800 20
Y-axis 24 or equiv. 200 1~800 −Z-axis 12 100/150 1~400 6
* Refer to P. 6 for the details of model specification items.
HS: Home confirmation sensorNM: Reversed-home specification
B: Brake (Standard)HS: Home confirmation sensorNM: Reversed-home specification
Refer to the expansion I/O slot table below.
* If the expansion I/O slot is not used, enter “E.”
20: 200mm 20: 200mm 10: 100mm15: 150mm
0: None2: 2m3: 3m5: 5m
PU: Mating plug (No cable)2: Power supply cable for 230 VAC (2m)
NP: NPN specificationPN: PNP specification
Refer to P. 6
I: Incremental specification
TTASeries
IEncoder
type
20X-axis stroke
20Y-axis stroke
Z-axis stroke
X-axis option
Y-axis option
Z-axis option
OptionStandard I/O slot
Expansion I/O slot 1
Expansion I/O slot 2
I/O cable length
Power supply cable specification
ModelSpecificationItems A3G:
3-axis global specification
(Gate type)
Type
Applicable Controller Specifications
2DCAD2D
CAD
TTA-A3G-20-20 Tabletop Robot Gate Type 3-axis SpecificationXY-axis: 200mm, Z-axis: 100mm/150mm
Axis configuration Motor type Lead (mm) Stroke (mm) Speed (mm/sec)Encoder type
* Coming soon
Detailed Diagram U (Detail of Z-axis Slider)
Detailed Diagram S (Detail of X-axis Slider)
* In the above model number, 1 and 2 indicate the XY-axis options, 3 indicates the Z-axis stroke, 4 indicates the Z-axis option(s), 5 indicates the standard I/O slot, 6 and 7 indicate the expansion I/O slots, 8 indicates the I/O cable length, 9 indicates the power
supply cable specification, and 10 indicates the selected option(s).
17 TTA-A3G-30-30
TTA-A3G-30-30 Tabletop Robot Gate Type 3-axis SpecificationXY-axis: 300mm, Z-axis: 100mm/150mm
Model number Payload (kg) (Note 1)
TTA-A3G-I-30 1 -30 2 - 3 B 4 - 5 - 6 - 7 - 8 - 9 - 10X-axis
Incremental Pulse motor24 or equiv. 300 1~800 20
Y-axis 24 or equiv. 300 1~800 −Z-axis 12 100/150 1~400 6
2 - ø5 H7, Depth 5
35(Reame r Pitch Tolerance ±0 .02)
55Xst: 30 0
5
Zst:1
00Zs
t:150
547
63
75.5
11057
595. 5
60
362 137.2
78.5
Zst+
185.
5
27.5 25
HomeME SE ME
ME
HomeME
T-Groove A (Same Shape on the Opposite Side)
T-Groove B x2(Same Shape on the Opposite Side on the Fram e)
SE
(12)44 0
32
27.5 25 80(Note 4) 93Zst=
100:
270
Zst=
150:
320
60 155
501
125
Zst=
100:
535.
5Zs
t=15
0:58
5.5
120
T-Groove B x 2
5Ys
t:30
061
5
646 .8
112 250
8258
(501
)
SE
ME
ME
Home
43
60 50 25
30
4-M4, Depth 7
4-M5, Depth 7
110 90
(Ream
er Pi
tch To
leranc
e ±0.
02)
45
6-M5, Depth 7
6-M4, Depth 7
55
50
100110
U
Dial for Z-Slider Position Tuning
S
2 - ø5 H7, Depth 5
Dial for Y-Slider Position Tuning
Dimensions
You can download CAD drawings from our website.
Applicable controller
Maximum number of
controlled axesEncoder type Method of
operationPower-supply
voltage Page
Built-in 3 axes Incremental Program 230 VAC → P. 28Caution
(Note 1) The maximum speed cannot be achieved based on the maximum payload setting. The payload decreases when the speed is increased. Also note that the maximum acceleration/deceleration varies depending on the payload. (Refer to P. 37.)
(Note 2) It is limited to when the actuator temperature is constant. It does not guarantee the absolute accuracy.
(Note 3) The dynamic allowable moment is a value of each axis assuming a traveling life of 5000km. (Refer to P. 7 for the dynamic allowable moment.)
(Note 4) Secure 2mm or more to the main body frames when mounting a work piece on X slider.
Expansion I/O Slot
Common Specifications
Drive system X/Y/Z-axis ballscrew (X/Y-axis: ø12mm, Z-axis: ø10mm, rolled C10) X-axis and Y-axis speeds increased at 1.5:1 using a timing belt
Positioning repeatability ±0.02mm (Note 2)
Lost motion 0.1mm or less
Guide Ball-circulation type linear guide
Dynamic allowable moment (Note 3)
X-axis: Ma: 15.9Nm Mb: 15.9Nm Mc: 32.0NmZ-axis: Ma: 9.7Nm Mb: 9.7Nm Mc: 20.5Nm
Ambient temperature/humidity 0 to 40ºC, 85% RH max. (non-condensing)
Loadable weight on table* 30kg
Actuator weight 34kg
Name Model
Not used E
Expansion PIO board (NPN specification) NP
Expansion PIO board (PNP specification)* PN
DeviceNet connection board DV
CC-Link connection board CC
PROFIBUS-DP connection board PR
EtherNet/IP connection board EP
* Table part is defined as the top surface on the main body except for the slider part. It is not the payload of X-axis.
* Refer to P. 7 for dimensions of T-groove.* During home return, the slider moves to the ME, so be careful to prevent contact with surrounding parts.
SE: Stroke end ME: Mechanical end
Model/Specifications
* In the above model number, 1 and 2 indicate the XY-axis options, 3 indicates the Z-axis stroke, 4 indicates the Z-axis option(s), 5 indicates the standard I/O slot, 6 and 7 indicate the expansion I/O slots, 8 indicates the I/O cable length, 9 indicates the power
supply cable specification, and 10 indicates the selected option(s).
* Refer to P. 6 for the details of model specification items.
HS: Home confirmation sensorNM: Reversed-home specification
B: Brake (Standard)HS: Home confirmation sensorNM: Reversed-home specification
Refer to the expansion I/O slot table below.
* If the expansion I/O slot is not used, enter “E.”
30: 300mm 30: 300mm 10: 100mm15: 150mm
0: None2: 2m3: 3m5: 5m
PU: Mating plug (No cable)2: Power supply cable for 230 VAC (2m)
NP: NPN specificationPN: PNP specification
Refer to P. 6
I: Incremental specification
TTASeries
IEncoder
type
30X-axis stroke
30Y-axis stroke
Z-axis stroke
X-axis option
Y-axis option
Z-axis option
OptionStandard I/O slot
Expansion I/O slot 1
Expansion I/O slot 2
I/O cable length
Power supply cable specification
ModelSpecificationItems A3G:
3-axis global specification
(Gate type)
Type
Applicable Controller Specifications
2DCAD2D
CAD
Speed (mm/sec)Stroke (mm)Lead (mm)Motor typeEncoder typeAxis configuration
* Coming soon
Detailed Diagram U (Detail of Y-axis Slider)
Detailed Diagram S (Detail of X-axis Slider)
TTA-A3G-40-40 18
TTA-A3G-40-40 Tabletop Robot Gate Type 3-axis SpecificationXY-axis: 400mm, Z-axis: 100mm/150mm
Model number Payload (kg) (Note 1)
TTA-A3G-I-40 1 -40 2 - 3 B 4 - 5 - 6 - 7 - 8 - 9 - 10X-axis
Incremental Pulse motor24 or equiv. 400 1~800 20
Y-axis 24 or equiv. 400 1~800 −Z-axis 12 100/150 1~400 6
2 - ø5 H7, Depth 5
35(Reame r Pitch Tolerance ±0 .02)
2 - ø5 H7, Depth 5
55Xst: 400
5
Zst:
100
Zst:1
50547
63
75.5
11057
695. 5
60
462 137.2
Zst+
185.
5
78.5
2527.5
HomeME SE ME
SEME
HomeME
T-Groove A (Same Shape on the Opposite Side) (12)54 0
3212
5
27.5 25 130(Note 4) 143
Zst=
100:
320
Zst=
150:
370
60 205
601
Zst=
100:
585.
5Zs
t=15
0:63
5.5
170
T-Groove B x 2
561
5
Yst:
400
74 6.8
112 350
8258
(601
)
SEME
ME
Home
43
60 50 25
30
4-M4, Dept h 7
4-M5, Dept h 7
110 90
(Ream
er Pi
tch To
leranc
e ±0.
02)
45
6-M5, Depth 7
6-M4, Depth 7
55
50100110
U
Dial for Z-Slider Position Tuning
S
T-Groove Bx2(Same Shape on the Opposite Side on the Fram e)
Dial for Y-SliderPosition Tuning
Dimensions
You can download CAD drawings from our website.
Applicable controller
Maximum number of
controlled axesEncoder type Method of
operationPower-supply
voltage Page
Built-in 3 axes Incremental Program 230 VAC → P. 28Caution
(Note 1) The maximum speed cannot be achieved based on the maximum payload setting. The payload decreases when the speed is increased. Also note that the maximum acceleration/deceleration varies depending on the payload. (Refer to P. 37.)
(Note 2) It is limited to when the actuator temperature is constant. It does not guarantee the absolute accuracy.
(Note 3) The dynamic allowable moment is a value of each axis assuming a traveling life of 5000km. (Refer to P. 7 for the dynamic allowable moment.)
(Note 4) Secure 2mm or more to the main body frames when mounting a work piece on X slider.
Expansion I/O Slot
Common Specifications
Drive system X/Y/Z-axis ballscrew (X/Y-axis: ø12mm, Z-axis: ø10mm, rolled C10) X-axis and Y-axis speeds increased at 1.5:1 using a timing belt
Positioning repeatability ±0.02mm (Note 2)
Lost motion 0.1mm or less
Guide Ball-circulation type linear guide
Dynamic allowable moment (Note 3)
X-axis: Ma: 15.9Nm Mb: 15.9Nm Mc: 32.0NmZ-axis: Ma: 9.7Nm Mb: 9.7Nm Mc: 20.5Nm
Ambient temperature/humidity 0 to 40ºC, 85% RH max. (non-condensing)
Loadable weight on table* 40kg
Actuator weight 40kg
Name Model
Not used E
Expansion PIO board (NPN specification) NP
Expansion PIO board (PNP specification)* PN
DeviceNet connection board DV
CC-Link connection board CC
PROFIBUS-DP connection board PR
EtherNet/IP connection board EP
* Table part is defined as the top surface on the main body except for the slider part. It is not the payload of X-axis.
* Refer to P. 7 for dimensions of T-groove.* During home return, the slider moves to the ME, so be careful to prevent contact with surrounding parts.
SE: Stroke end ME: Mechanical end
Model/Specifications
* Refer to P. 6 for the details of model specification items.
HS: Home confirmation sensorNM: Reversed-home specification
B: Brake (Standard)HS: Home confirmation sensorNM: Reversed-home specification
Refer to the expansion I/O slot table below.
* If the expansion I/O slot is not used, enter “E.”
40: 400mm 40: 400mm 10: 100mm15: 150mm
0: None2: 2m3: 3m5: 5m
PU: Mating plug (No cable)2: Power supply cable for 230 VAC (2m)
NP: NPN specificationPN: PNP specification
Refer to P. 6
I: Incremental specification
TTASeries
IEncoder
type
40X-axis stroke
40Y-axis stroke
Z-axis stroke
X-axis option
Y-axis option
Z-axis option
OptionStandard I/O slot
Expansion I/O slot 1
Expansion I/O slot 2
I/O cable length
Power supply cable specification
ModelSpecificationItems A3G:
3-axis global specification
(Gate type)
Type
Applicable Controller Specifications
2DCAD2D
CAD
Axis configuration Motor type Lead (mm) Stroke (mm) Speed (mm/sec)Encoder type
* Coming soon
Detailed Diagram U (Detail of Z-axis Slider)
Detailed Diagram S (Detail of X-axis Slider)
* In the above model number, 1 and 2 indicate the XY-axis options, 3 indicates the Z-axis stroke, 4 indicates the Z-axis option(s), 5 indicates the standard I/O slot, 6 and 7 indicate the expansion I/O slots, 8 indicates the I/O cable length, 9 indicates the power
supply cable specification, and 10 indicates the selected option(s).
19 TTA-A3G-50-50
TTA-A3G-50-50 Tabletop Robot Gate Type 3-axis SpecificationXY-axis: 500mm, Z-axis: 100mm/150mm
Model number Payload (kg) (Note 1)
TTA-A3G-I-50 1 -50 2 - 3 B 4 - 5 - 6 - 7 - 8 - 9 - 10X-axis
Incremental Pulse motor24 or equiv. 500 1~800 20
Y-axis 24 or equiv. 500 1~800 −Z-axis 12 100/150 1~400 6
55Xst: 500
5
Zst:
100
Zst:1
50547
63
75.5
11057
795. 5
60
562 137.2
78.5
Zst+
185.
5
27.5 25
ME SE ME
SEME
HomeME
T-Groove A (Same Shape on the Opposite Side)
Home
(12)64 0
32
27.5 25
180(Note 4)
143
Zst=
100:
320
Zst=
150:
370
60 255
701
125
Zst=
100:
585.
5Zs
t=15
0:63
5.5
220
T-Groove B x 2
55
Yst:
500
61
846 .8
112 450
8258
(701
)
SEME
MEHome
35(Reame r Pitch Toleranc e ±0 .02)
43
60 50 25
30
4-M4, Depth 7
4-M5, Depth 7
110 90
(Ream
er Pi
tch To
leranc
e ±0.
02)
45
6-M5, Depth 7
6-M4, Depth 7
2 - ø5 H7, Depth 5
2 - ø5 H7, Depth 5
55
50100110
U
Dial for Z-Slider Position Tuning
S
T-Groove Bx2(Same Shape on the Opposite Side on the Fram e)
Dial for Y-Slider Position Tuning
Dimensions
You can download CAD drawings from our website.
Applicable controller
Maximum number of
controlled axesEncoder type Method of
operationPower-supply
voltage Page
Built-in 3 axes Incremental Program 230 VAC → P. 28Caution
(Note 1) The maximum speed cannot be achieved based on the maximum payload setting. The payload decreases when the speed is increased. Also note that the maximum acceleration/deceleration varies depending on the payload. (Refer to P. 37.)
(Note 2) It is limited to when the actuator temperature is constant. It does not guarantee the absolute accuracy.
(Note 3) The dynamic allowable moment is a value of each axis assuming a traveling life of 5000km. (Refer to P. 7 for the dynamic allowable moment.)
(Note 4) Secure 2mm or more to the main body frames when mounting a work piece on X slider.
Expansion I/O Slot
Common Specifications
Drive system X/Y/Z-axis ballscrew (X/Y-axis: ø12mm, Z-axis: ø10mm, rolled C10) X-axis and Y-axis speeds increased at 1.5:1 using a timing belt
Positioning repeatability ±0.02mm (Note 2)
Lost motion 0.1mm or less
Guide Ball-circulation type linear guide
Dynamic allowable moment (Note 3)
X-axis: Ma: 15.9Nm Mb: 15.9Nm Mc: 32.0NmZ-axis: Ma: 9.7Nm Mb: 9.7Nm Mc: 20.5Nm
Ambient temperature/humidity 0 to 40ºC, 85% RH max. (non-condensing)
Loadable weight on table* 50kg
Actuator weight 47kg
Name Model
Not used E
Expansion PIO board (NPN specification) NP
Expansion PIO board (PNP specification)* PN
DeviceNet connection board DV
CC-Link connection board CC
PROFIBUS-DP connection board PR
EtherNet/IP connection board EP
* Table part is defined as the top surface on the main body except for the slider part. It is not the payload of X-axis.
* Refer to P. 7 for dimensions of T-groove.* During home return, the slider moves to the ME, so be careful to prevent contact with surrounding parts.
SE: Stroke end ME: Mechanical end
Model/Specifications
* Refer to P. 6 for the details of model specification items.
HS: Home confirmation sensorNM: Reversed-home specification
B: Brake (Standard)HS: Home confirmation sensorNM: Reversed-home specification
Refer to the expansion I/O slot table below.
* If the expansion I/O slot is not used, enter “E.”
50: 500mm 50: 500mm 10: 100mm15: 150mm
0: None2: 2m3: 3m5: 5m
PU: Mating plug (No cable)2: Power supply cable for 230 VAC (2m)
NP: NPN specificationPN: PNP specification
Refer to P. 6
I: Incremental specification
TTASeries
IEncoder
type
50X-axis stroke
50Y-axis stroke
Z-axis stroke
X-axis option
Y-axis option
Z-axis option
OptionStandard I/O slot
Expansion I/O slot 1
Expansion I/O slot 2
I/O cable length
Power supply cable specification
ModelSpecificationItems A3G:
3-axis global specification
(Gate type)
Type
Applicable Controller Specifications
2DCAD2D
CAD
Speed (mm/sec)Stroke (mm)Lead (mm)Motor typeEncoder typeAxis configuration
* Coming soon
Detailed Diagram U (Detail of Y-axis Slider)
Detailed Diagram S (Detail of X-axis Slider)
* In the above model number, 1 and 2 indicate the XY-axis options, 3 indicates the Z-axis stroke, 4 indicates the Z-axis option(s), 5 indicates the standard I/O slot, 6 and 7 indicate the expansion I/O slots, 8 indicates the I/O cable length, 9 indicates the power
supply cable specification, and 10 indicates the selected option(s).
TTA-C3G-20-15 20
TTA-C3G-20-15 Tabletop Robot Cantilever Type 3-axis SpecificationX-axis: 200mm, Y-axis: 150mm, Z-axis: 100mm/150mm
Model number Payload (kg) (Note 1)
TTA-C3G-I-20 1 -15 2 - 3 B 4 - 5 - 6 - 7 - 8 - 9 - 10X-axis
Incremental Pulse motor24 or equiv. 200 1~600 −
Y-axis 24 or equiv. 150 1~540 −Z-axis 12 100/150 1~400 6
Xst: 200
Zst:1
00Zs
t:150
50
510
8.5
577
(11.5)
5 5
55
485
(163
)Zs
t+18
5.5
136
ME
Home
SEME
Fram e Surface
Operat ing Ranges
MEHomeSEME
T-Groove A (Same Shape on the Opposite Side)
Dial for Y-Slider Position Tuning
(16.8)
27.5 25
130
126
Zst=
100:
340
Zst=
150:
390
35
163
34 0436
Zst=
100:
574.
5Zs
t=15
0:62
4.5
Yst:
150
Xst: 200505 5
905
5
215. 5
50
(436
)
(534.7 )
146
ME
Home
MEAP (Additiona l Pillar Option)
Dimensions
203
Dial for Z-Slider Position Tuning
SE
ME SE Home MEOperat ing Ranges
255060
35(Reame r Pitch Toleranc e ±0 .02)
43
30
4-M5, Dept h 7
4-M4, Dept h 7
2 - ø5 H7, Dept h 5
25
50 10 0 100
5x50p= 250
40.5
9085
.5
12-M4, Dept h 8
3 - ø5 H7, Depth 5
Fram e Surface
U
Dial for X-Slider Position Tuning
T-Groove B x 2
Dimensions
You can download CAD drawings from our website.
Applicable controller
Maximum number of
controlled axesEncoder type Method of
operationPower-supply
voltage Page
Built-in 3 axes Incremental Program 230 VAC → P. 28
Caution
(Note 1) The maximum speed cannot be achieved based on the maximum payload setting. The payload decreases when the speed is increased. Also note that the maximum acceleration/deceleration varies depending on the payload. (Refer to P. 37.)
(Note 2) It is limited to when the actuator temperature is constant. It does not guarantee the absolute accuracy.
(Note 3) The dynamic allowable moment is a value of each axis assuming a traveling life of 5000km. (Refer to P. 7 for the dynamic allowable moment.)
Expansion I/O Slot
Common Specifications
Drive system X/Y/Z-axis ballscrew (X/Y-axis: ø12mm, Z-axis: ø10mm, rolled C10) X-axis and Y-axis speeds increased at 1.5:1 using a timing belt
Positioning repeatability ±0.02mm (Note 2)
Lost motion 0.1mm or less
Guide Ball-circulation type linear guide
Dynamic allowable moment (Note 3)
X-axis: Ma: 12.6Nm Mb: 12.6Nm Mc: 37.4NmZ-axis: Ma: 9.7Nm Mb: 9.7Nm Mc: 20.5Nm
Ambient temperature/humidity 0 to 40ºC, 85% RH max. (non-condensing)
Loadable weight on table 40kg
Actuator weight 29kg
Name Model
Not used E
Expansion PIO board (NPN specification) NP
Expansion PIO board (PNP specification)* PN
DeviceNet connection board DV
CC-Link connection board CC
PROFIBUS-DP connection board PR
EtherNet/IP connection board EP
Model/Specifications
* Refer to P. 7 for dimensions of T-groove.* During home return, the slider moves to the ME, so be careful to prevent contact with surrounding parts. SE: Stroke end ME: Mechanical end
* Refer to P. 6 for the details of model specification items.
HS: Home confirmation sensorNM: Reversed-home specification
B: Brake (Standard)HS: Home confirmation sensorNM: Reversed-home specification
Refer to the expansion I/O slot table below.
* If the expansion I/O slot is not used, enter “E.”
20: 200mm 15: 150mm 10: 100mm15: 150mm
0: None2: 2m3: 3m5: 5m
PU: Mating plug (No cable)2: Power supply cable for 230 VAC (2m)
NP: NPN specificationPN: PNP specification
Refer to P. 6
I: Incremental specification
TTASeries
IEncoder
type
20X-axis stroke
15Y-axis stroke
Z-axis stroke
X-axis option
Y-axis option
Z-axis option
OptionStandard I/O slot
Expansion I/O slot 1
Expansion I/O slot 2
I/O cable length
Power supply cable specification
ModelSpecificationItems C3G:
3-axis global specification
(Cantilever type)
Type
Applicable Controller Specifications
2DCAD2D
CAD
Axis configuration Motor type Lead (mm) Stroke (mm) Speed (mm/sec)Encoder type
* Coming soon
Detailed Diagram U (Detail of Z-axis Slider)
View for Top Base Hole Allocation
* In the above model number, 1 and 2 indicate the XY-axis options, 3 indicates the Z-axis stroke, 4 indicates the Z-axis option(s), 5 indicates the standard I/O slot, 6 and 7 indicate the expansion I/O slots, 8 indicates the I/O cable length, 9 indicates the power
supply cable specification, and 10 indicates the selected option(s).
21 TTA-C3G-30-25
TTA-C3G-30-25 Tabletop Robot Cantilever Type 3-axis SpecificationX-axis: 300mm, Y-axis: 250mm, Z-axis: 100mm/150mm
Model number Payload (kg) (Note 1)
TTA-C3G-I-30 1 -25 2 - 3 B 4 - 5 - 6 - 7 - 8 - 9 - 10X-axis
Incremental Pulse motor24 or equiv. 300 1~700 −
Y-axis 24 or equiv. 250 1~640 −Z-axis 12 100/150 1~400 6
Applicable controller
Maximum number of
controlled axesEncoder type Method of
operationPower-supply
voltage Page
Built-in 3 axes Incremental Program 230 VAC → P. 28
Caution
(Note 1) The maximum speed cannot be achieved based on the maximum payload setting. The payload decreases when the speed is increased. Also note that the maximum acceleration/deceleration varies depending on the payload. (Refer to P. 37.)
(Note 2) It is limited to when the actuator temperature is constant. It does not guarantee the absolute accuracy.
(Note 3) The dynamic allowable moment is a value of each axis assuming a traveling life of 5000km. (Refer to P. 7 for the dynamic allowable moment.)
Expansion I/O Slot
Common Specifications
Drive system X/Y/Z-axis ballscrew (X/Y-axis: ø12mm, Z-axis: ø10mm, rolled C10) X-axis and Y-axis speeds increased at 1.5:1 using a timing belt
Positioning repeatability ±0.02mm (Note 2)
Lost motion 0.1mm or less
Guide Ball-circulation type linear guide
Dynamic allowable moment (Note 3)
X-axis: Ma: 12.6Nm Mb: 12.6Nm Mc: 37.4NmZ-axis: Ma: 9.7Nm Mb: 9.7Nm Mc: 20.5Nm
Ambient temperature/humidity 0 to 40ºC, 85% RH max. (non-condensing)
Loadable weight on table 60kg
Actuator weight 37kg
Name Model
Not used E
Expansion PIO board (NPN specification) NP
Expansion PIO board (PNP specification)* PN
DeviceNet connection board DV
CC-Link connection board CC
PROFIBUS-DP connection board PR
EtherNet/IP connection board EP
Model/Specifications
Xst: 300
Zst:1
00Zs
t:150
5108.
55
77
50(3)
5 5
Zst+
185.
5
585
(163
)
55
137.2
ME
Home
SE
ME
Fram e Surface
Operat ing Ranges
MEHomeSEME
T-Groove A (Same Shape on the Opposite Side)
Dial for Y-Slider Position Tuning
85
(16.8)536
163
30344 0
2527.5
126
Zst=
100:
340
Zst=
150:
390
130
Zst=
100:
574.
5Zs
t=15
0:62
4.5
Yst:
250
Xst: 3005
905
5
505
215.5
50
(536
)
63 4.7
146
ME
Dial for Z-Slider Position Tuning
SE HomeME
ME
ME
Home
SE
Operati ng Ranges
255060
35(Reame r Pitch Toleranc e ±0 .02)
43
30
4-M5, Dept h 7
4-M4, Dept h 72 - ø5 H7, Depth 5
90.5
135.
590
12 .5 5x75 p=375
12-M4, Depth 8
3 - ø5 H7, Depth 5
50 150 150
Fram e Surface
U
T-Groove B x 2
Dial for X-Slider Position Tuning
* Refer to P. 7 for dimensions of T-groove.* During home return, the slider moves to the ME, so be careful to prevent contact with surrounding parts.
SE: Stroke end ME: Mechanical end
* Refer to P. 6 for the details of model specification items.
HS: Home confirmation sensorNM: Reversed-home specification
B: Brake (Standard)HS: Home confirmation sensorNM: Reversed-home specification
Refer to the expansion I/O slot table below.
* If the expansion I/O slot is not used, enter “E.”
30: 300mm 25: 250mm 10: 100mm15: 150mm
0: None2: 2m3: 3m5: 5m
PU: Mating plug (No cable)2: Power supply cable for 230 VAC (2m)
NP: NPN specificationPN: PNP specification
Refer to P. 6
I: Incremental specification
TTASeries
IEncoder
type
30X-axis stroke
25Y-axis stroke
Z-axis stroke
X-axis option
Y-axis option
Z-axis option
OptionStandard I/O slot
Expansion I/O slot 1
Expansion I/O slot 2
I/O cable length
Power supply cable specification
ModelSpecificationItems C3G:
3-axis global specification
(Cantilever type)
Type
Dimensions
Applicable Controller Specifications
You can download CAD drawings from our website.
2DCAD2D
CAD
Speed (mm/sec)Stroke (mm)Lead (mm)Motor typeEncoder typeAxis configuration
* Coming soon
Detailed Diagram U (Detail of Z-axis Slider)
View for Top Base Hole Allocation
* In the above model number, 1 and 2 indicate the XY-axis options, 3 indicates the Z-axis stroke, 4 indicates the Z-axis option(s), 5 indicates the standard I/O slot, 6 and 7 indicate the expansion I/O slots, 8 indicates the I/O cable length, 9 indicates the power
supply cable specification, and 10 indicates the selected option(s).
TTA-C3G-40-35 22
TTA-C3G-40-35 Tabletop Robot Cantilever Type 3-axis SpecificationX-axis: 400mm, Y-axis: 350mm, Z-axis: 100mm/150mm
Model number Payload (kg) (Note 1)
TTA-C3G-I-40 1 -35 2 - 3 B 4 - 5 - 6 - 7 - 8 - 9 - 10X-axis
Incremental Pulse motor24 or equiv. 400 1~800 −
Y-axis 24 or equiv. 350 1~800 −Z-axis 12 100/150 1~400 6
Xst: 400
Zst:1
00Zs
t:150
5108.
55
77
70
(17)
5 5
Zst+
185.
5(2
13)
705
55
137.2
Home
SE
Frame Surface
Dial for Y-Slider Position Tuning
Operat ing Ranges
MEHomeSEME
T-Groove A (Same Shape on the Opposite Side)
ME
ME
135
27.5 25
(16.8)63654 0
130
Zst=
100:
624.
5Zs
t=15
0:67
4.5
126
Zst=
100:
390
Zst=
150:
440
403
213
T-Groove B x 2
Yst:
350
Xst: 400
905
705 5
5
215.5
50
(636
)
75 4.7
146
ME
Dial for Z-Slider Position Tuning
SE HomeME
ME
ME
SE
Home
Operat ing Ranges
255060
35(Reame r Pitch Toleranc e ±0 .02)
43
30
4-M5, Dept h 7
4-M4, Dept h 7 2 - ø5 H7, Depth 5
20 5x10 0p=500
95.5
9090
140.
590
18 -M5, Dept h 10
6 - ø5 H7, Depth 570 20 0 20 0
Frame Surface
U
Dial for X-Slider Position Tuning
Dimensions
You can download CAD drawings from our website.
Applicable controller
Maximum number of
controlled axesEncoder type Method of
operationPower-supply
voltage Page
Built-in 3 axes Incremental Program 230 VAC → P. 28
Caution
(Note 1) The maximum speed cannot be achieved based on the maximum payload setting. The payload decreases when the speed is increased. Also note that the maximum acceleration/deceleration varies depending on the payload. (Refer to P. 37.)
(Note 2) It is limited to when the actuator temperature is constant. It does not guarantee the absolute accuracy.
(Note 3) The dynamic allowable moment is a value of each axis assuming a traveling life of 5000km. (Refer to P. 7 for the dynamic allowable moment.)
Expansion I/O Slot
Common Specifications
Drive system X/Y/Z-axis ballscrew (X/Y-axis: ø12mm, Z-axis: ø10mm, rolled C10) X-axis and Y-axis speeds increased at 1.5:1 using a timing belt
Positioning repeatability ±0.02mm (Note 2)
Lost motion 0.1mm or less
Guide Ball-circulation type linear guide
Dynamic allowable moment (Note 3)
X-axis: Ma: 12.6Nm Mb: 12.6Nm Mc: 37.4NmZ-axis: Ma: 9.7Nm Mb: 9.7Nm Mc: 20.5Nm
Ambient temperature/humidity 0 to 40ºC, 85% RH max. (non-condensing)
Loadable weight on table 80kg
Actuator weight 44kg
Name Model
Not used E
Expansion PIO board (NPN specification) NP
Expansion PIO board (PNP specification)* PN
DeviceNet connection board DV
CC-Link connection board CC
PROFIBUS-DP connection board PR
EtherNet/IP connection board EP
Model/Specifications
* Refer to P. 7 for dimensions of T-groove.* During home return, the slider moves to the ME, so be careful to prevent contact with surrounding parts.
SE: Stroke end ME: Mechanical end
* Refer to P. 6 for the details of model specification items.
HS: Home confirmation sensorNM: Reversed-home specification
B: Brake (Standard)HS: Home confirmation sensorNM: Reversed-home specification
Refer to the expansion I/O slot table below.
* If the expansion I/O slot is not used, enter “E.”
40: 400mm 35: 350mm 10: 100mm15: 150mm
0: None2: 2m3: 3m5: 5m
PU: Mating plug (No cable)2: Power supply cable for 230 VAC (2m)
NP: NPN specificationPN: PNP specification
Refer to P. 6
I: Incremental specification
TTASeries
IEncoder
type
40X-axis stroke
35Y-axis stroke
Z-axis stroke
X-axis option
Y-axis option
Z-axis option
OptionStandard I/O slot
Expansion I/O slot 1
Expansion I/O slot 2
I/O cable length
Power supply cable specification
ModelSpecificationItems C3G:
3-axis global specification
(Cantilever type)
Type
Applicable Controller Specifications
2DCAD2D
CAD
Axis configuration Motor type Lead (mm) Stroke (mm) Speed (mm/sec)Encoder type
* Coming soon
Detailed Diagram U (Detail of Z-axis Slider)
View for Top Base Hole Allocation
* In the above model number, 1 and 2 indicate the XY-axis options, 3 indicates the Z-axis stroke, 4 indicates the Z-axis option(s), 5 indicates the standard I/O slot, 6 and 7 indicate the expansion I/O slots, 8 indicates the I/O cable length, 9 indicates the power
supply cable specification, and 10 indicates the selected option(s).
23 TTA-C3G-50-45
TTA-C3G-50-45 Tabletop Robot Cantilever Type 3-axis SpecificationX-axis: 500mm, Y-axis: 450mm, Z-axis: 100mm/150mm
Model number Payload (kg) (Note 1)
TTA-C3G-I-50 1 -45 2 - 3 B 4 - 5 - 6 - 7 - 8 - 9 - 10X-axis
Incremental Pulse motor24 or equiv. 500 1~800 −
Y-axis 24 or equiv. 450 1~800 −Z-axis 12 100/150 1~400 6
Xst: 500
Zst:1
00Zs
t:150
5108.
55
77
70
(17)
5 5137.2
Zst+
185.
5(2
13)
805
55
MEHome
SEME
Frame Surface
Operat ing Ranges
ME SE Home ME
T-Groove A (Sam e Shape on the Opposite Side)
Dial for Y-Slider Position Tuning
27.5 25
(16.8)
185
73664 0
130
Zst=
100:
624.
5Zs
t=15
0:67
4.5
126
Zst=
100:
390
Zst=
150:
440
503
213
T-Groove B x 2
Yst:
450
Xst: 500
905
705 5
5
215.5
50(7
36)
85 4.7
146
Dial for Z-Slider Position Tuning
SE HomeME
ME
ME
Home
Operat ing Range s
SE
ME
255060
35(Reame r Pitch Toleranc e ±0 .02)
43
30
4-M5, Dept h 7
4-M4, Dept h 72 - ø5 H7, Depth 5
145.
590
9019
0.5
90
18-M5, Depth 10
7.5 5x125p=625
70 250 2506 - ø5 H7, Depth 5
Frame Surface
U
Dial for X-Slider Position Tuning
Applicable controller
Maximum number of
controlled axesEncoder type Method of
operationPower-supply
voltage Page
Built-in 3 axes Incremental Program 230 VAC → P. 28
Caution
(Note 1) The maximum speed cannot be achieved based on the maximum payload setting. The payload decreases when the speed is increased. Also note that the maximum acceleration/deceleration varies depending on the payload. (Refer to P. 37.)
(Note 2) It is limited to when the actuator temperature is constant. It does not guarantee the absolute accuracy.
(Note 3) The dynamic allowable moment is a value of each axis assuming a traveling life of 5000km. (Refer to P. 7 for the dynamic allowable moment.)
Expansion I/O Slot
Common Specifications
Drive system X/Y/Z-axis ballscrew (X/Y-axis: ø12mm, Z-axis: ø10mm, rolled C10) X-axis and Y-axis speeds increased at 1.5:1 using a timing belt
Positioning repeatability ±0.02mm (Note 2)
Lost motion 0.1mm or less
Guide Ball-circulation type linear guide
Dynamic allowable moment (Note 3)
X-axis: Ma: 12.6Nm Mb: 12.6Nm Mc: 37.4NmZ-axis: Ma: 9.7Nm Mb: 9.7Nm Mc: 20.5Nm
Ambient temperature/humidity 0 to 40ºC, 85% RH max. (non-condensing)
Loadable weight on table 100kg
Actuator weight 51kg
Name Model
Not used E
Expansion PIO board (NPN specification) NP
Expansion PIO board (PNP specification)* PN
DeviceNet connection board DV
CC-Link connection board CC
PROFIBUS-DP connection board PR
EtherNet/IP connection board EP
Model/Specifications
Dimensions
* Refer to P. 7 for dimensions of T-groove.* During home return, the slider moves to the ME, so be careful to prevent contact with surrounding parts.
SE: Stroke end ME: Mechanical end
* Refer to P. 6 for the details of model specification items.
HS: Home confirmation sensorNM: Reversed-home specification
B: Brake (Standard)HS: Home confirmation sensorNM: Reversed-home specification
Refer to the expansion I/O slot table below.
* If the expansion I/O slot is not used, enter “E.”
50: 500mm 45: 450mm 10: 100mm15: 150mm
0: None2: 2m3: 3m5: 5m
PU: Mating plug (No cable)2: Power supply cable for 230 VAC (2m)
NP: NPN specificationPN: PNP specification
Refer to P. 6
I: Incremental specification
TTASeries
IEncoder
type
50X-axis stroke
45Y-axis stroke
Z-axis stroke
X-axis option
Y-axis option
Z-axis option
OptionStandard I/O slot
Expansion I/O slot 1
Expansion I/O slot 2
I/O cable length
Power supply cable specification
ModelSpecificationItems C3G:
3-axis global specification
(Cantilever type)
Type
Applicable Controller Specifications
2DCAD2D
CAD
You can download CAD drawings from our website.
* Coming soon
Detailed Diagram U (Detail of Z-axis Slider)
View for Top Base Hole Allocation
* In the above model number, 1 and 2 indicate the XY-axis options, 3 indicates the Z-axis stroke, 4 indicates the Z-axis option(s), 5 indicates the standard I/O slot, 6 and 7 indicate the expansion I/O slots, 8 indicates the I/O cable length, 9 indicates the power
supply cable specification, and 10 indicates the selected option(s).
Speed (mm/sec)Stroke (mm)Lead (mm)Motor typeEncoder typeAxis configuration
TTA-A4G- - 24
* Refer to P. 6 for the details of model specification items.
HS: Home confirmation sensor
NM: Reversed-home specification
B: Brake (Standard)CO: With coverHS: Home confirmation sensorNM: Reversed-home
specification
ML: Motor Reversed to Left (Standard)MR: Motor Reversed to Right
Refer to the expansion I/O slot table below. * If the expansion I/O slot
is not used, enter “E”.
20: 200mm30: 300mm40: 400mm50: 500mm
20: 200mm30: 300mm40: 400mm50: 500mm
10: 100mm15: 150mm
18L:±180deg.36L:±360deg.(Equipped with home limit switch)
0: None2: 2m3: 3m5: 5m
PU: Mating plug (No cable)2: Power supply cable for
230 VAC (2m)
NP: NPN specification
PN: PNP specification
Refer to P. 6A4G: 4-axis ZR type global specification
I: Incremental specification
TTASeries
Model Specification Items
IEncoder
typeX-axis stroke
Y-axis stroke
Z-axis stroke
R-axis stroke
Type X-axis option
Y-axis option
Z-axis option
R-axis option
OptionStandard I/O slot
Expansion I/O slot 1
Expansion I/O slot 2
I/O cable length
Power supply cable specification
Expansion I/O Slot Common Specifications
Model/Specifications
Model number Axis configuration Lead(mm)
Stroke(mm)
Speed(mm/sec)
Payload(kg) (Note 1)
Max. Load Momentof Inertia
(kg·m2) (Note 1)
TTA-A4G-I-20 -20
X-axis 24 or equiv. 200 1~800 20 −
Y-axis 24 or equiv. 200 1~800 − −
Z-axis 12 100/150 1~4006
−
R-axis − 18L : ±180deg.36L : ±360deg. 1000deg./s 0.01
TTA-A4G-I-30 -30
X-axis 24 or equiv. 300 1~800 20 −
Y-axis 24 or equiv. 300 1~800 − −
Z-axis 12 100/150 1~4006
−
R-axis − 18L : ±180deg.36L : ±360deg. 1000deg./s 0.01
TTA-A4G-I-40 -40
X-axis 24 or equiv. 400 1~800 20 −
Y-axis 24 or equiv. 400 1~800 − −
Z-axis 12 100/150 1~4006
−
R-axis − 18L: ±180deg.36L: ±360deg. 1000deg./s 0.01
TTA-A4G-I-50 -50
X-axis 24 or equiv. 500 1~800 20 −
Y-axis 24 or equiv. 500 1~800 − −
Z-axis 12 100/150 1~4006
−
R-axis − 18L: ±180deg.36L : ±360deg. 1000deg./s 0.01
Name Model
Not used E
Expansion PIO board (NPN specification) NP
Expansion PIO board (PNP specification)* PN
DeviceNet connection board DV
CC-Link connection board CC
PROFIBUS-DP connection board PR
EtherNet/IP connection board EP
Drive system X/Y/Z-axis ballscrew (X/Y-axis: ø12mm, Z-axis: ø10mm, rolled C10) X-axis and Y-axis speeds increased at 1.5:1 using a timing belt
Positioning repeatability X/Y/Z-axis: ±0.02mmR-axis: ±0.015deg. (Note 2)
Lost motion X/Y/Z-axis: 0.1mm or lessR-axis: 0.06deg. or less
Guide Ball-circulation type linear guide Dynamic allowable moment (Note 3)
X-axis: Ma: 15.9Nm Mb: 15.9Nm Mc: 32.0NmZ-axis: Ma: 9.7Nm Mb: 9.7Nm Mc: 20.5Nm
Overhang load length Z-axis: Ma: 75mm or less Mb: 180mm or less Mc: 180mm or lessR-axis: Radius 100mm or less
Ambient temperature/humidity 0 to 40ºC, 85% RH max. (non-condensing)
Loadable weight on table* 20-20: 20kg 30-30: 30kg40-40: 40kg 50-50: 50kg
Actuator weight 20-20: 28kg 30-30: 35kg40-40: 41kg 50-50: 48kg
Applicable Controller Specifications
Applicable controller
Maximum number of controlled axes Encoder type Method of
operationPower-supply
voltage Page
Built-in 4 axes Incremental Program 230 VAC → P.28 Caution
(Note 1) The maximum speed cannot be achieved based on the maximum payload setting. The payload decreases when the speed is increased. Also note that the maximum acceleration/deceleration varies depending on the payload. (Refer to P. 37)Note that the rotary axis may not be able to perform the maximum velocity depending on the value of the load moment of inertia. (Refer to P. 38)
(Note 2) It is limited to when the actuator temperature is constant. It does not guarantee the absolute accuracy.
(Note 3) The dynamic allowable moment is a value of each axis assuming a traveling life of 5000km.(Refer to P. 7 for the dynamic allowable moment.)
(Note 4) Secure 2mm or more to the main body frames when mounting a work piece on X slider.
ZR Type with 4 axes is now added to the lineup
of TTA Series (Gate Type).
It is equipped with rotary axis (R-axis) on the
end of the vertical axis (Z-axis).
Vertical Axis + Rotation
ZR Specification TTA-A4GZR-axis
* Table part is defined as the top surface on the main body except for the slider part. It is not the payload of X-axis.
* Coming soon
25 TTA-A4G- -
(12)
235.
5
F(Note 4)
2527.5
GH
125
32Zs
t=10
0:47
5Zs
t=15
0:52
5
60 E
Zst=
100:
740.
5Zs
t=15
0:79
0.5
T-Groove B x 2
*
5
Zst:1
00Zs
t:150
75.5
Xst:L5
63
Zst:1
00Zs
t:150
55
145
Zst= 100: 100Zst= 150: 50
55
J 137.2I
K
55.5
89.5
57 110
35.5
Zst=
100:
383.
5Zs
t=15
0:43
3.5
6078
.5
(200
) 2527.5
55
HomeME MESE
ME:Z-Slider
SE:Z-Slider
ME:Z-Slider
Home :Z-Slider
ME:Spline
ME:SplineSE:Spline
Home:S pline
T-Groove A (Same Shape on the Opposite Side)
T-Groove x 2(Same Shape on Opposite Side of Fram e)
Dial for Y-Slider Position Tuning
5Ys
t:DB
615
MC
5882
112 A
SE
ME
ME
Home
Dial for Z-Slider Position Tuning
4335(Reamer Pitch Toleranc e ±0 .02)
60 50 2530
4-M5, Dept h 74-M4, Dept h 7
2 - ø5 H7, Dept h 56-M5, Dept h 7
6-M4, Dept h 7
45
110
55
5010 0110
90(R
eamer
Pitch
Toler
ance
±0.02
)
4 - ø5 H7, Depth 5
W
U
S
* Does not apply to 2020 type
20
ø10 h7M5, Dept h 10
19
Detailed Diagram W(Detail of R Spline End)
Detailed Diagram U(Detail of Z-axis Slider)
Detailed Diagram S(Detail of X-axis Slider)
R-axis SurfaceR-ax is Rotational Position Adjusting Dial
When option cover (model code: CO)is selected, a cover is attached on thefront of Z-axis and the slider is hidden.
TTA-A4G - -
2020Stroke type 3030 4040 5050A 150 250 350 450B 417 517 617 717C 401 501 601 701D 200 300 400 500E 105 155 205 255F 30 80 130 180G 340 440 540 640H 401 501 601 701I 495.5 595.5 695.5 795.5J 262 362 462 562K 248 348 448 548L 200 300 400 500M 546.8 646.8 746.8 846.8
Dimensions
You can download CAD drawings from our website.
* Refer to P. 7 for dimensions of T-groove.* During home return, the slider moves to the ME, so be careful to prevent contact with surrounding parts.
SE: Stroke end ME: Mechanical end
2DCAD2D
CAD
ZR-axis
TTA-C4G- - 26
Vertical Axis + Rotation
ZR Specification TTA-C4G
Expansion I/O Slot Common Specifications
Model/Specifications
Name Model
Not used E
Expansion PIO board (NPN specification) NP
Expansion PIO board (PNP specification)* PN
DeviceNet connection board DV
CC-Link connection board CC
PROFIBUS-DP connection board PR
EtherNet/IP connection board EP
Drive system X/Y/Z-axis ballscrew (X/Y-axis: ø12mm, Z-axis: ø10mm, rolled C10) X-axis and Y-axis speeds increased at 1.5:1 using a timing belt
Positioning repeatability X/Y/Z-axis: ±0.02mmR-axis: ±0.015deg. (Note 2)
Lost motion X/Y/Z-axis: 0.1mm or lessR-axis: 0.06deg. or less
Guide Ball-circulation type linear guide Dynamic allowable moment (Note 3)
Overhang load length Z-axis: Ma: 75mm or less Mb: 180mm or less Mc: 180mm or lessR-axis: Radius 100mm or less
Ambient temperature/humidity 0 to 40ºC, 85% RH max. (non-condensing)
Loadable weight on table 20-15: 40kg 30-25: 60kg40-35: 80kg 50-45: 100kg
Actuator weight 20-15: 36kg 30-25: 41kg40-35: 48kg 50-45: 56kg
Applicable Controller Specifications
Applicable controller
Maximum number of controlled axes Encoder type Method of
operationPower-supply
voltage Page
Built-in 4 axes Incremental Program 230 VAC → P.28 Caution
(Note 1) The maximum speed cannot be achieved based on the maximum payload setting. The payload decreases when the speed is increased. Also note that the maximum acceleration/deceleration varies depending on the payload. (Refer to P. 37)Note that the rotary axis may not be able to perform the maximum velocity depending on the value of the load moment of inertia. (Refer to P. 38)
(Note 2) It is limited to when the actuator temperature is constant. It does not guarantee the absolute accuracy.
(Note 3) The dynamic allowable moment is a value of each axis assuming a traveling life of 5000km. (Refer to P. 7 for the dynamic allowable moment.)
ZR Type with 4 axes is now added to the lineup
of TTA Series (Cantilever Type).
It is equipped with rotary axis (R-axis) on the
end of the vertical axis (Z-axis).
HS: Home confirmation sensor
NM: Reversed-homespecification
B: Brake (Standard)CO: With coverHS: Home confirmation sensorNM: Reversed-home
specification
MR: Motor Reversed to Right (Standard)
Refer to the expansion I/O slot table below. * If the expansion I/O slot
is not used, enter “E”.
20: 200mm30: 300mm40: 400mm50: 500mm
15: 150mm25: 250mm35: 350mm45: 450mm
10: 100mm15: 150mm
18L:±180deg.36L:±360deg.(Equipped with home limit switch)
0: None2: 2m3: 3m5: 5m
PU: Mating plug (No cable)2: Power supply cable for
230 VAC (2m)
NP: NPN specification
PN: PNP specification
Refer to P. 6C4G: 4-axis ZR type global specification
I: Incremental specification
TTASeries
Model Specification Items
IEncoder
typeX-axis stroke
Y-axis stroke
Z-axis stroke
R-axis stroke
Type X-axis option
Y-axis option
Z-axis option
R-axis option
OptionStandard I/O slot
Expansion I/O slot 1
Expansion I/O slot 2
I/O cable length
Power supply cable specification
* Refer to P. 6 for the details of model specification items.
Model number Axis configuration Lead(mm)
Stroke(mm)
Speed(mm/sec)
Payload(kg) (Note 1)
Max. Load Momentof Inertia
(kg·m2) (Note 1)
TTA-C4G-I-20 -15
X-axis 24 or equiv. 200 1~600 − −
Y-axis 24 or equiv. 150 1~540 − −
Z-axis 12 100/150 1~4006
−
R-axis − 18L : ±180deg.36L : ±360deg. 1000deg./s 0.01
TTA-C4G-I-30 -25
X-axis 24 or equiv. 300 1~700 − −
Y-axis 24 or equiv. 250 1~640 − −
Z-axis 12 100/150 1~4006
−
R-axis − 18L : ±180deg.36L : ±360deg. 1000deg./s 0.01
TTA-C4G-I-40 -35
X-axis 24 or equiv. 400 1~800 − −
Y-axis 24 or equiv. 350 1~800 − −
Z-axis 12 100/150 1~4006
−
R-axis − 18L : ±180deg.36L : ±360deg. 1000deg./s 0.01
TTA-C4G-I-50 -45
X-axis 24 or equiv. 500 1~800 − −
Y-axis 24 or equiv. 450 1~800 − −
Z-axis 12 100/150 1~4006
−
R-axis − 18L : ±180deg.36L : ±360deg. 1000deg./s 0.01
X-axis: Ma: 12.6Nm Mb: 12.6Nm Mc: 37.4NmZ-axis: Ma: 9.7Nm Mb: 9.7Nm Mc: 20.5Nm
* Coming soon
27 TTA-C4G- -
Zst:1
00Zs
t:150
Xst:D
5
Rst:
100
Rst:1
50
(Xst :D)
5
Rst=
100:
100
Rst=
150:
50
55
139.
5
35 .5
Rst+
35.5
R
A
5 5
5 575
(Q)
55
137.2
108.
5
Zst+
248
S
L14
Dial for Y-Slider Position Tuning
ME
SE
Home
Home
ME
MESE
ME
SE ME
ME SE Home MEZ-Slider Operating Ranges
ME
(16.8)
Zst=
100:
475
Zst=
150:
525
Zst=
100:
709.
5Zs
t=15
0:75
9.5
P
M
(200
)
(50)
126
N
130 L
2527.5 T-Groove B x 2
Dial for X-Slider Position Tuning
Yst:C
Xst: D5R
5215.5
55
9050
(B)
E
148.
7
Dial for Z-Slider Position Tuning
Z-SliderOperating Ranges
SEME Home ME
MESE
Home
ME
I90
J
5× G= HF
3 - ø5 H7, Depth 5 50 K K
Frame Surface
View for Top Base Hole Allocation
35(Reamer Pitch Tolerance ±0 .02)
60
43
2550
30
4-M5, Dept h 74-M4, Dept h 7 2 - ø5 H7, Depth 5
Detailed Diagram V (Detail of Z-axis Slider)
20
ø10 H7M5 Dept h 10
19
Detailed Diagram W (Detail of R Spline End)
R-axis Surface R-ax is Rotation al Position Adjusting Dial
Xst: CA
Yst:B
5 5
905
550
R SplineOperating Ranges
MEHomeSEME
Home
ME
SEME
R Spline Operation Range
V
W
*
* Does not apply to 2015 type
When optional cover (model code : CO) is selected , a cover is at ta che d on the fron t of Z-ax is and the slider is hidden .
R SplineOperating Ranges
Frame SurfaceT-Groove A (Same Shape on theOpposite Side)
* Does not apply to 2015 type** When 2015 type is selected
160**
*
View for Top Base Hole Allocation
4035 / 5045 stroke type
2015 / 3025 stroke type
I90
90J
90
70 K K
F 5x G= H18-M5, Depth 10
6 - ø5 H7, Depth 5
Frame Surface
Home
TTA-C4G - -
2015Stroke type 3025 4035 5045A 70 70 90 90B 454.8 554.8 654.8 754.8C 150 250 350 450D 200 300 400 500E 534.8 634.8 754.8 854.8F 25 12.5 20 7.5G 50 75 100 125H 250 375 500 625I 40.5 90.5 95.5 145.5J 85.5 135.5 140.5 190.5K 100 150 200 250L 35 85 135 185M − 303 403 503N 340 440 540 640P 438.7 538.7 638.7 738.7Q 11.5 11.5 -17 -17R 50 50 70 70S 485 585 705 805T 236 336 456 556
Dimensions
You can download CAD drawings from our website.
* Refer to P. 7 for dimensions of T-groove.* During home return, the slider moves to the ME, so be careful to prevent contact with surrounding parts.
SE: Stroke end ME: Mechanical end
2DCAD2D
CAD
28
Tabletop Robot Series Controller Specifications
Controller Specifications
Item
Motor type Pulse motor (Servo control)
Applicable encoder Incremental encoder
Data-storage device Flash ROM/FRAM
Number of program steps 9999
Number of positions 30000
Number of programs 255
Number of multi-tasking programs 16
Operation mode
Serial communication
Program
Positioner –Pulse train –
SIO interface
Communication method RS232
Baud rate 9.6, 19.2, 38.4, 57.6, 76.8, 115.2kbps
Live wire insertion/removal
TP port –USB
Standard I/O Interface
Input specification
Number of input 16 points
Input voltage DC24V ±10%
Input current 7mA per circuit
ON voltage Min. DC16V
OFF voltage Max. DC5V
Leak current Allowable leak current: 1mA max.
Isolation method Photocoupler isolation
Output specification
Number of output 16 points
Load voltage DC24V ±10%
Maximum current 100mA per point, 400mA per 8 points (Note 1)
Saturated voltage Max.3V
Leak current Max 0.1mA
Isolation method Photocoupler isolation
Conforming expansion I/O interface
Expansion PIO NPN specification (16IN/16OUT)
Expansion PIO PNP specification (16IN/16OUT) (Note 2)
CC-Link (remote device)
DeviceNet
PROFIBUS-DP
EtherNet/IP
Brake output voltage DC24V ±10%
Connectable brake power Max.5W
Calendar/clock functionRetention time Approx. 10 days
Charge time Approx. 100 hours
Protective functions Monitoring of overcurrent, fan speed drop, etc.
Power supply capacity 230V: 1.2A
(Note 1) The total load current for every 8 points from Standard I/O No. 316 is 400mA. (The maximum value per point is 100mA.)(Note 2) Coming soon.
29
Tabletop Robot Series PIO Signal Tables
Pin No. Classification Assignment Pin No. Classification Assignment
1A 24V * P24 1B
Output
OUT0
2A 24V * P24 2B OUT1
3A - - 3B OUT2
4A - - 4B OUT3
5A
Input
IN0 5B OUT4
6A IN1 6B OUT5
7A IN2 7B OUT6
8A IN3 8B OUT7
9A IN4 9B OUT8
10A IN5 10B OUT9
11A IN6 11B OUT10
12A IN7 12B OUT11
13A IN8 13B OUT12
14A IN9 14B OUT13
15A IN10 15B OUT14
16A IN11 16B OUT15
17A IN12 17B - -
18A IN13 18B - -
19A IN14 19B 0V * N
20A IN15 20B 0V * N
* [24V]/[0V] (not connected to the service power) must be supplied with power even when the service power output is ON.
Pin No. Classification Assignment Pin No. Classification Assignment
1A 24V * P24 1B
Output
OUT0
2A 24V * P24 2B OUT1
3A - - 3B OUT2
4A - - 4B OUT3
5A
Input
IN0 5B OUT4
6A IN1 6B OUT5
7A IN2 7B OUT6
8A IN3 8B OUT7
9A IN4 9B OUT8
10A IN5 10B OUT9
11A IN6 11B OUT10
12A IN7 12B OUT11
13A IN8 13B OUT12
14A IN9 14B OUT13
15A IN10 15B OUT14
16A IN11 16B OUT15
17A IN12 17B - -
18A IN13 18B - -
19A IN14 19B 0V * N
20A IN15 20B 0V * N
* [24V]/[0V] indicates the 24V power input when the service power output is OFF, or 24V power output when the service power output is ON.* [24V]/[0V] must not be connected to an external power supply when the service power output is ON.
PIO Signal Table
Expansion PIO Connector Pin Layout
I/O cable (CB-PAC-PIO )
Standard PIO Connector Pin Layout
* Enter the cable length (L) in . Lengths up to 10 m are supported. Example) 080 = 8 m
No connector
No connector
Flat Cable (20-core) x 2
Half Pitch MIL SocketHIF6-40D-1.27R (Hirose)
HIF6-40D-1.27R
No Signal Name
Cable Color Wiring No Signal
NameCable Color Wiring
1A 24V Brown-1
Flat Cable A(Crimped)
1B OUT0 Brown-3
Flat Cable B(Crimped)
AWG28
2A 24V Red-1 2B OUT1 Red-3
3A - Orange-1 3B OUT2 Orange-3
4A - Yellow-1 4B OUT3 Yellow-3
5A IN0 Green-1 5B OUT4 Green-3
6A IN1 Blue-1 6B OUT5 Blue-3
7A IN2 Purple-1 7B OUT6 Purple-3
8A IN3 Gray-1 8B OUT7 Gray-3
9A IN4 White-1 9B OUT8 White-3
10A IN5 Black-1 10B OUT9 Black-3
11A IN6 Brown-2 11B OUT10 Brown-4
12A IN7 Red-2 12B OUT11 Red-4
13A IN8 Orange-2 13B OUT12 Orange-4
14A IN9 Yellow-2 14B OUT13 Yellow-4
15A IN10 Green-2 15B OUT14 Green-4
16A IN11 Blue-2 16B OUT15 Blue-4
17A IN12 Purple-2 17B - Purple-4
18A IN13 Gray-2 18B - Gray-4
19A IN14 White-2 19B 0V White-4
20A IN15 Black-2 20B 0V Black-4
30
I/O Wiring Diagrams (Standard PIO)
Item Specification
Input voltage 24 VDC + 10%
Input current 7 mA/circuit
ON/OFF voltages ON voltage---16.0 VDC min., OFF voltage---5.0 VDC max.
Isolation method Photocoupler isolation
* The circuit diagram below assumes that the power is input externally (the service power output is OFF).* In the circuit diagram below, the port numbers conform to the standard factory settings. * The allowable leak current is 1 mA when the input is OFF.
Item Specification
Input voltage 24 VDC + 10%
Input current 7 mA/circuit
ON/OFF voltages ON voltage---8.0 VDC max., OFF voltage---19.0 VDC min.
Isolation method Photocoupler isolation
* The circuit diagram below assumes that the power is input externally (the service power output is OFF).* In the circuit diagram below, the port numbers conform to the standard factory settings. * The allowable leak current is 1 mA when the input is OFF.
Item Specification
Load voltage 24 VDCTD62084 (or equivalent)
Maximum load current 100 mA/point, 400 mA/8 ports Note)
Leak current 0.1 mA/point max.
Isolation method Photocoupler isolation
* The circuit diagram assumes that the power is input externally (the service power output is OFF). * In the circuit diagram below, the port numbers conform to the standard factory settings. Note: The total load current for every 8 points from Standard I/O No. 316 is 400 mA. (Max. per point: 100 mA.)
Item Specification
Load voltage 24 VDCTD62783 (or equivalent)
Maximum load current 100 mA/point, 400 mA/8 ports Note)
Leak current 0.1 mA/point max.
Isolation method Photocoupler isolation
* The circuit diagram assumes that the power is input externally (the service power output is OFF). * In the circuit diagram below, the port numbers conform to the standard factory settings. Note: The total load current for every 8 points from Standard I/O No. 316 is 400 mA. (Max. per point: 100 mA.)
■ Input Part: External input specification (NPN specification)
■ Input Part: External input specification (PNP specification)
■Output Part: External output specification (NPN specification)
■ Output Part: External output specification (PNP specification)
[Input circuit]
[Input circuit]
[Output circuit]
[Output circuit]
Pin No.1A, 2APin No.1A, 2A
Pin No.1A, 2A
Output terminal
Output terminal
Load
Load
Pin No. 19B, 20B
Pin No. 19B, 20B
Port No. 316 to 331
Port No. 316 to 331
External power supply: 24 VDC ±10%
External power supply: 24 VDC ±10%
External power supply: 24 VDC ±10%
External power supply: 24 VDC ±10%
Input terminalPort No.016 to 031
Input terminal
Port No.016 to 031
Inte
rnal
circu
itIn
tern
al cir
cuit
Inte
rnal
circu
itIn
tern
al cir
cuit
I/O Wiring Diagrams (Expansion PIO)
Item SpecificationNumber of input 16 points
Input voltage 24 VDC + 10%
Input current 4 mA/circuit
ON/OFF voltages ON voltage---18.0 VDC min. (3.5 mA), OFF voltage---6.0 VDC max. (1 mA)
Isolation method Photocoupler isolation
Item SpecificationNumber of output 16 points
Rated load voltage 24 VDC
Maximum current 50 mA/circuit
Isolation method Photocoupler isolation
■ Input Part: External input specification ■ Output Part: External output specification
[NPN specification] [NPN specification]
[PNP specification]* *Coming soon. *Coming soon.[PNP specification]*
Logic circuit
Logic circuit
Internal circuit
Internal circuit Output
terminal
Output terminal
Load
Load
External power supply: 24 VDC
External power supply: 24 VDC
Internal circuit
Internal circuit
Each input
Each input
Each input
Each input
31
I/O Interface
Rear
Standard I/O slot Standard PIO (Input 16 points/output 16 points)
Expansion I/O slot 1 [Option] Expansion PIO (Input 16 points/output 16 points), or Field Network (*1)
Expansion I/O slot 2 [Option] Expansion PIO (Input 16 points/output 16 points), or Field Network (*1)
System I/O slot Emergency stop input 2 contacts, enable input 2 contacts
Motor power I/O connector For cutting off external drive power
*1: For field network (CC-Link, DeviceNet, PROFIBUS-DP or EtherNet/IP) connection, the maximum number of input points is 240 and maximum number of output points is 240. EtherNet/IP (slot 1) + EtherNet/IP (slot 2) is not supported. If you use a vision system, connect it to EtherNet/IP.
Tabletop Robot Series Name of Each Part
Expansion I/O Slot 1 (I/O 2)
Expansion I/O Slot 1 (I/O 2) Status LED
Expansion I/O Slot 2 (I/O 3)Service Power Switch
System I/O Connector
Motor Drive Power Line ConnectorStandard I/O Slot (I/O 1)
Expansion I/O Slot 2 (I/O 3)Status LED
Power Inlet and Power Switch Protective Ground Terminal
Front
Mode SwitchBrake Release Switch (Axis 3) Panel Window
Digital Program Selector Switch
Emergency Stop Pushbutton Switch
Function Switch(Start Switch)
Teaching Connector USB Connector
32
The TTA's high-performance interpolation function makes it an ideal actuator for coating targets having a 2- or 3-dimensional shape.
Coating
Applying silicone to circuit boards, adhesive to speakers, sealant to fuel cells, etc.
Applications
With its 30000-point positioning capability, the TTA can easily apply solder to circuit boards, etc.
Soldering
Soldering electronic components.
Applications
The push-motion function of the Z-axis can be used to hold a screwdriver against the load to tighten screws.
Driving screws
Tightening screws into electronic components and automotive parts.
Applications
You can attach an image sensor to the Z-axis to inspect circuit boards and components.
Circuit board inspection
Checking circuit boards for mounting defects, inspecting processed parts.
Applications
Tabletop Robot Series Examples of Applications
33
It can be used with TTA by upgrading the version of the software.Dummy plug [DP-1] enclosed in IA-101-TT-USB is not applicable forSafety Categories. To make it applicable, [DP-2] is necessary.
<If you have IA-101-TT-USB>
<Note>
Features:
Teaching Pendant
PC Compatible Software (for Windows PCs only)
Configuration:
Features: A startup support software program offering program/position input function, test operation function, monitoring function, and more. The functions needed for debugging have been enhanced to help reduce the startup time.
Model:
Configuration:
IA-101-X-MW (RS232C cable included) (Note)
Model:
Dummy Plug
Features:
Model:
Specifications:
Rated voltage
Power consumption
Ambient operating temperature
Ambient operating humidity
Environmental endurance
Weight
DC24V
3.6W or less (150mA or less)
0~50ºC
20~85% RH (non-condensing)
IP40 (in initial state)
507g (TB-01-S; teaching pendant only)
Item TB-01-S
Model:
Configuration:
5m3m
PC compatible software (CD)RS232C cableCB-ST-E1MW050-EB
USB cableCB-SEL-USB030
CB-TB01-X050
USB Conversion AdapterIA-CV-USB
Model:
Configuration:
IA-101-TTA-USB (USB cable included)
The plug supports emergency stop/enable circuit redundancy
(up to category 3).
Connect this plug to the teaching connector to cut off the enable circuit when the TTA series is linked to a PC using a USB cable.
5m
PC compatible software (CD)RS232C cableCB-ST-E1MW050-EB
3m
Dummy plugDP−2
PC compatible software (CD)USB cableCB-SEL-USB030
Note: The TTA series only supports version 10.0.0.0 or later.
DP-2 This is a part enclosed in global type (TTA-AG and TTA-CG) and PC compatible software (Model: IA-101-TTA-USB).
210 88.6
169.
5
A teaching device offering program/position input, trial operation and monitoring functions.
TB-01-S
IA-101-X-USBMW (USB conversion adapter + cable included) (Note)
Model:
Configuration:
PC compatible software (CD)
IA-101-XA-MW (With Safety Category 4-compliant cable)
5m
Safety Category-compliant cableCB-ST-A1MW050-EB
Tabletop Robot Series Options
* This model is the standard specification. If you are interested in the deadman switch specifiction, specify the model number of the applicable teaching pendant (TB-01D-N/TB-01DR-N) and that of the cable (CB-TB1-X050).** TB-01-S is coming soon with CE conformity.
The RS232C standard cable CB-ST-E1MW050-EBcannot be used when “Building an enable systemthat uses a system I/O connector and external powersupply” or “Building a redundant safety circuit.”(The RS232C safety category cable CB-ST-A1MW050-EBor the software kit IA-101-XA-MW must be used instead.)
34
I/O Conversion Cable
Features:
Model:
I/O flat cable(CB-DS-PIO)
TTA standard I/O
This conversion cable is used to connect the I/O flat cable (CB-DS-PIO) for conventional TT series to the standard I/O slot of the TTA series.
* 4 pieces of installation brackets are enclosed in 20/30 type of X-axis stroke and 6 pieces in 40/50 type.
CB-TTA-PIOJ0 05
Actuator Mounting Brackets(4 pieces / 6 pieces in one set, enclosed with attachment screws and nuts)
Model:
Dimensions:
TTA- FT-4 (for X-axis stroke 20/30)
TTA- FT-6 (for X-axis stroke 40/50)
125
15
3016
T-Groove Length: L2
A10 10(L1)
6010
10
Oblong Hole
Bracket
0.5m
When making your own bracket
When making your own bracket, have oblongholes to the hole pitch in the direction ofproduction width to secure margin toattachment.Make the oblong holes 3mm or more tothe nominal position.
Nominal Dimension for Hole Pitch
Oblong Hole
3
6.5
Detail of Oblong Hole
Nominal Dimension
T-Groove
Product Width: 340+2-1
X-Y Stroke L1 L2 A Number of Brackets
20-20/20-15 400 430 3804
30-30/30-25 500 530 480
40-40/40-35 600 630 5806
50-50/50-45 700 730 680
35
L130
L2
16.58
7 3
7.3
4.3
4.5 1.5
Detailed Diagram XScale 1 : 1
L130
X
(29.
5)(9
6.5)
(66.
5)
(29.
5)(9
7.5)
(127
.5)
L130
16.58
7 3
7.3
4.3
4.5 1.5
L130
X
(29.
5)(9
6.5)
(66.
5)
(29.
5)(9
7.5)
(127
.5)
180
Detailed Diagram XScale 1 : 1
Tabletop Robot Series Side Slot Options
Side slot can be selected as an option. It becomes handy when customers themselves need to attach a device to the TTA.
Side slot is available from individual stroke specification (Option code: SLT) and 180mm specification (Option code: SLT0).
It is available when selecting slot specification considering body size.It is not available when selecting FT4 or FT6 as an option.
It is available when selecting FT4 or FT6 as slot specification. 20/30 type of X-axis stroke is equipped with 2 places of 180mm side slot where 40/50 type has 4 places.
Dimension Table
Individual Stroke Side Slot (Option Code: SLT)
Side Slot 180mm Installation Specification (Option Code: SLT0)
Front View
TTA-A type
TTA-A type
TTA-C type
TTA-C type
Front View
Side View (TTA-A, TTA-C)
Side View (TTA-A, TTA-C)
Model L1 L2
20-20/20-15 378 430
30-30/30-25 478 530
40-40/40-35 578 630
50-50/50-45 678 730
36
50
(D)50
A=Bx
50p
C-M4 dept h 8
50
(H)50
E=Fx
50p
G-M4 dept h 8
50
(D)50
A=Bx
50p
C-M4 dept h 8
50
(H)50
E=Fx
50p
G-M4 depth 8 J=Kx
50p
50 (N)
M-M4 depth 8
50
(H)50
E=Fx
50p
G-M4 dept h 8 J=Kx
50p
50 (N)
M-M4 dept h 8
Tabletop Robot Series Side Plate Options
Side plate can be selected as an option. It becomes handy when customers themselves need to attach a device to the TTA.
There are two types for the side plate, one with holes already available (option code: PTH) and the other where you make holes of your
own (option code: PTN).
* This option is available only for TTA-A type.
* Option code: PTN is a plate with no hole of M4, depth8 shown in the figure below.
It is when Option F1 is selected in the actuator model code.
It is when Option F2 is selected in the actuator model code.
Dimension Table
Dimension Table
Dimension Table
Standard Specification Hole Positions
Frame Position F1 Specification Hole Position
Frame Position F2 Specification Hole Position
Model A B C D
20-20/20-15 250 5 12 45
30-30/30-25 350 7 16 95
40-40/40-35 450 9 20 145
50-50/50-45 550 11 24 195
Model E F G H
20-20/20-15 150 3 8 45
30-30/30-25 250 5 12 95
40-40/40-35 350 7 16 145
50-50/50-45 450 9 20 195
Model J K M N
20-20/20-15 50 1 4 45
30-30/30-25 150 3 8 95
40-40/40-35 250 5 12 145
50-50/50-45 350 7 16 195
37
Correlation Diagram of Payload and Speed (X-axis/Y-axis/Z-axis)
[TTA-A Series]
[TTA-C Series]
All models in the TTA series use pulse motors. Due to the characteristics of the pulse motor, the payload decreases as the speed increases. Use the tables below to check if the desired speed and payload are met.
The maximum velocity of X-axis for TTA-C2 may differ depending on the Payload. Also, the maximum velocity of X-axis and Y-axis for C3 and C4 may differ depending on the Payload on Z-axis.
Payload Acceleration/deceleration20kg 0.2G or less18kg 0.2G or less15kg 0.3G or less12kg 0.3G or less10kg 0.4G or less8kg 0.4G or less
X-axis
X-axis
X-axis
TTA-C2
TTA-C3/C4
Y-axis
Y-axis
Y-axis
Z-axis
Z-axis
Payload and acceleration/deceleration • Set the acceleration/deceleration to 0.4G at max.
• Set the acceleration/deceleration to 0.2G at max.
• Set the acceleration/deceleration to 0.2G at max.
• Set the acceleration/deceleration to 0.2G at max.
• Set the acceleration/deceleration to 0.2G at max.
• Set the acceleration/deceleration to 0.2G at max. • Set the acceleration/deceleration to 0.2G at max.
25
20
15
10
5
0
Speed (mm/sec)
Payl
oad
(kg)
0 200 400 60 0 800 1000
1818
1212
88
12
10
8
6
4
2
0
X-ax is Spee d (mm/sec )
Payl
oad
on Y
-axi
s (kg
)
0 200 400 60 0 800 1000
7
6
5
4
3
2
1
0 200 400 60 0 800 10000
X-ax is Speed (mm/sec)
Payl
oad
on Z
-axi
s (kg
)
12
10
8
6
4
2
0
Speed (mm/sec)
Payl
oad
(kg)
0 200 400 60 0 800 1000
12
10
8
6
4
2
0
Y-ax is Spee d (mm/sec )
Payl
oad
on Y
-axi
s (kg
)
0 200 400 60 0 800 1000
7
6
5
4
3
2
1
0 200 400 60 0 800 10000
Y-ax is Speed (mm/sec)
Payl
oad
on Z
-axi
s (kg
)
7
6
5
4
3
2
1
0
Speed (mm/sec)
Payl
oad
(kg)
0 100 20 0 300 400 50 0
7
6
5
4
3
2
1
0
Z-ax is Speed (mm/sec)
Payl
oad
on Z
-axi
s (kg
)
0 100 20 0 300 400 50 0
Notes
38
Correlation Graph for Allowable Load Moment of Inertia and Angular Velocity (R-Axis)
Z-axis R-axis
* The push force may vary by ±10% of the maximum push force. * There is dispersion of ±10% (range of red dotted lines) to the maximum for the pressing force.
(Note) Convert to G when setting to a teaching tool such as PC compatible software. (1G=9800deg./sec²).
In the case of push-motion operation, the push force can be changed freely by changing the electric current limit of the controller. (Only for TTA-A Series)
Contact IAI if it is required to have push control on the rotary axis (R-axis). Take the graph below as a reference.
Take the push force below as a reference.
Correlation Graph of Push Force and Electric Current Limit
120
10 0
80
60
40
20
0
Electric Curren t Limit [%]
Push
For
ce (N
)
0 1 30 50 70 020 40 60 80
120
10 0
80
60
40
20
0
Electric Curren t Limit [%]
Push
For
ce (N
)
0 10 30 50 7020 40 60 80
2929
103103
4444
5959
7373
8888
9292
103103
4444
9595
3737
8888
1.00
0.80
0.60
0.40
0.20
0.00
Electric Curren t Limit [%]
Push
Tor
que
(N·m
)
0 1 30 50 70 020 40 60 80
0.120.12
0.240.24
73.0 73.0
0.480.48
16.0 16.0
0.730.73
0.850.85
Allowable Load Moment of Inertia Angular Velocity Acceleration/deceleration
0.010kg·m 100deg./sec 1000deg./sec2
0.010kg·m2
2
200deg./sec 1000deg./sec2
0.010kg·m2 300deg./sec 1000deg./sec2
0.008kg·m2 400deg./sec 1778deg./sec2
0.006kg·m2 500deg./sec 2778deg./sec2
0.005kg·m2 600deg./sec 4000deg./sec2
0.004kg·m2 700deg./sec 5444deg./sec2
0.004kg·m2 800deg./sec 7111deg./sec2
0.003kg·m2 900deg./sec 9000deg./sec2
0.003kg·m2 1000deg./sec 11111deg./sec 2
R-axis Allowable load moment of inertia, angular velocity, angular acceleration and deceleration (R)
0.012
0.010
0.0 08
0.0 06
0.004
0.0 02
0
Angulat Velocity (deg./sec)
Allo
wabl
e Loa
dM
omen
t of I
nerti
a(k
g·m
2 )
0 200 400 60 0 800 12001000
IAI Industrie r oboter GmbH Ober der Röth 4
D-658 2 4 Schwalb a ch / Frankfurt Germany
T el.:+49- 6 1 96-8895-0 Fax:+49- 6 1 96-8895- 2 4
E-Mail: [email protected] Inte r net: http://ww w .eu.IAI-GmbH.de
The information contained in this catalog is subject to change without notice for the purp ose
of product inprovement
IAI, the IAI-logo, RoboCylinder™, the RoboCylinder™-logo, Intel ligentActuator™ and the IntelligentActuator™-logo are trademark s or product names of IAI Corporation or of the subsidiaries in USA, China,Thailand or Germany
IAI America, Inc. 2690 W. 237th Street, Torrance, CA 90505, U.S.APhone: +1-310-891-6015, Fax: +1-310-891-0815
IAI (Shanghai) Co., LtdShanghai Jiahua Business Centee A8-303.808,Hongqiao Rd., Shanghai 200030, China Phone: +86-21-6448-4753, Fax: +86-21-6448-3992
IAI CORPORATION645-1 Shimizu Hirose, Shizuoka 424-0102, JapanPhone: +81-543-64-5105, Fax: +81-543-64-5182
IAI Robot (Thailand) Co., Ltd825 PhairojKijja Tower 12th Floor, Bangna-Trad RD.,Bangna, Bangna, Bangkok 10260, ThailandPhone: +66-2-361-4457, Fax: +66-2-361-4456
TTA Tabletop Series Catalogue No. 0415-E